Positioning Module Type QD70D User's Manual · 2015. 4. 22. · • Before installing or removing the module, be sure to shut off all phases of the external power ... GENERIC TERMS

Positioning Module Type QD70D User's Manual

-QD70D4-QD70D8-GX Configurator-PT (SW1D5C-QPTU-E)

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SAFETY PRECAUTIONS (Always read these instructions before using this equipment.)

Before using this product, please read this manual and the relevant manuals introduced in this manual carefully and pay full attention to safety to handle the product correctly. The instructions given in this manual are concerned with this product. For safety precautions for programmable controller systems, refer to the user’s manual of the CPU module used. In this manual, the safety precautions are classified into two levels: " ! WARNING " and " ! CAUTION".

Indicates that incorrect handling may cause hazardous conditions, resulting in death or severe injury. Indicates that incorrect handling may cause hazardous conditions, resulting in minor or moderate injury or property damage.

Note that the ! CAUTION level may lead to a serious consequence according to the circumstances. Always follow the instructions of both levels because they are important to personal safety. Please save this manual to make it accessible when required and always forward it to the end user. [Design Precautions]

! WARNING • Provide a safety circuit outside the programmable controller so that the entire system will

operate safely even when an external power supply error or programmable controller fault occurs. Failure to observe this could lead to accidents for incorrect outputs or malfunctioning. (1) Configure an emergency stop circuit and interlock circuit such as a positioning control

upper limit/lower limit to prevent mechanical damage outside the programmable controller. (2) The machine OPR operation is controlled by the OPR direction and OPR speed data.

Deceleration starts when the near-point dog turns ON. Thus, if the OPR direction is incorrectly set, deceleration will not start and the machine will continue to travel. Configure an interlock circuit to prevent mechanical damage outside the programmable controller.

(3) When the module detects an error, deceleration stop will take place. Make sure that the OPR data and positioning data are within the parameter setting values.

! CAUTION

• Do not bundle or adjacently lay the control wire or communication cable with the main circuit or power wire. Separate these by 100mm (3.94in.) or more. Failure to observe this could lead to malfunctioning caused by noise.

! WARNING

! CAUTION

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[Mounting Precautions]

! CAUTION • Use the programmable controller under the environment specified in the User’s Manual of the

CPU used. Using the programmable controller outside the general specification range environment could lead to electric shocks, fires, malfunctioning, product damage or deterioration.

• While pressing the installation lever located at the bottom of module, insert the module fixing tab into the fixing hole in the base unit until it stops. Then, securely mount the module with the fixing hole as a supporting point. Improper loading of the module can cause a malfunction, failure or drop. For use in vibratory environment, tighten the module with screws. Tighten the screws within the specified torque range. Undertightening can cause a drop, short circuit or malfunction. Overtightening can cause a drop, short circuit or malfunction due to damage to the screws or module.

• Before installing or removing the module, be sure to shut off all phases of the external power supply used in the system. Failure to do so may cause damage to the product.

• Do not directly touch the conductive section and electronic parts of the module. Failure to observe this could lead to module malfunctioning or trouble.

[Wiring Precautions]

! WARNING • Always confirm the terminal layout before connecting the wires to the module. • Make sure that foreign matter, such as cutting chips or wire scraps, do not enter the module.

Failure to observe this could lead to fires, trouble or malfunctioning.

[Startup/Maintenance Precautions]

! WARNING • Before cleaning or retightening the mounting screws, be sure to shut off all phases of the

external power supply used in the system. Failure to turn all phases OFF could lead to electric shocks.

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[Startup/Maintenance Precautions]

! CAUTION • Never disassemble or modify the module.

Failure to observe this could lead to trouble, malfunctioning, injuries or fires. • Before installing or removing the module, be sure to shut off all phases of the external power

supply used in the system. Failure to turn all phases OFF could lead to module trouble or malfunctioning.

• Do not install/remove the module to/from the base unit more than 50 times after the first use of the product. (IEC 61131-2 compliant) Failure to do so may cause malfunction.

• Before starting test operation, set the parameter speed limit value to the slowest value, and make sure that operation can be stopped immediately if a hazardous state occurs.

• Always make sure to touch the grounded metal to discharge the electricity charged in the body, etc., before touching the module. Failure to do so may cause a failure or malfunctions of the module.

[Disposal Precautions]

! CAUTION • When disposing of the product, handle it as industrial waste.

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• CONDITIONS OF USE FOR THE PRODUCT • (1) Mitsubishi programmable controller ("the PRODUCT") shall be used in conditions;

i) where any problem, fault or failure occurring in the PRODUCT, if any, shall not lead to any major or serious accident; and ii) where the backup and fail-safe function are systematically or automatically provided outside of the PRODUCT for the case of any problem, fault or failure occurring in the PRODUCT.

(2) The PRODUCT has been designed and manufactured for the purpose of being used in general industries. MITSUBISHI SHALL HAVE NO RESPONSIBILITY OR LIABILITY (INCLUDING, BUT NOT LIMITED TO ANY AND ALL RESPONSIBILITY OR LIABILITY BASED ON CONTRACT, WARRANTY, TORT, PRODUCT LIABILITY) FOR ANY INJURY OR DEATH TO PERSONS OR LOSS OR DAMAGE TO PROPERTY CAUSED BY the PRODUCT THAT ARE OPERATED OR USED IN APPLICATION NOT INTENDED OR EXCLUDED BY INSTRUCTIONS, PRECAUTIONS, OR WARNING CONTAINED IN MITSUBISHI'S USER, INSTRUCTION AND/OR SAFETY MANUALS, TECHNICAL BULLETINS AND GUIDELINES FOR the PRODUCT. ("Prohibited Application") Prohibited Applications include, but not limited to, the use of the PRODUCT in; Nuclear Power Plants and any other power plants operated by Power companies, and/or any other cases in which the public could be affected if any problem or fault occurs in the PRODUCT.

Railway companies or Public service purposes, and/or any other cases in which establishment of a special quality assurance system is required by the Purchaser or End User.

Aircraft or Aerospace, Medical applications, Train equipment, transport equipment such as Elevator and Escalator, Incineration and Fuel devices, Vehicles, Manned transportation, Equipment for Recreation and Amusement, and Safety devices, handling of Nuclear or Hazardous Materials or Chemicals, Mining and Drilling, and/or other applications where there is a significant risk of injury to the public or property.

Notwithstanding the above, restrictions Mitsubishi may in its sole discretion, authorize use of the PRODUCT in one or more of the Prohibited Applications, provided that the usage of the PRODUCT is limited only for the specific applications agreed to by Mitsubishi and provided further that no special quality assurance or fail-safe, redundant or other safety features which exceed the general specifications of the PRODUCTs are required. For details, please contact the Mitsubishi representative in your region.

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REVISIONS

* The manual number is given on the bottom left of the back cover.

Print Date * Manual Number Revision May, 2006 SH (NA)-080551ENG-A First edition May, 2006 SH (NA)-080551ENG-B Modifications

Section 11.7, Appendix 3.1 Jun., 2006 SH (NA)-080551ENG-C Modifications

Section 2.3, Section 4.6.1, 10.1, 11.2 Jan., 2008 SH (NA)-080551ENG-D Modifications

GENERIC TERMS AND ABBREVIATIONS, Section 2.3 to 2.6, Section 6.2.2

May, 2008 SH (NA)-080551ENG-E Modifications

SAFETY PRECAUTIONS, COMPLIANCWE WITH THE EMC AND LOW VOLTAGE DIRECTIVES, Section 2.3, 2.6, 3.1, 5.4.1, 6.2.1, 6.3.1, 6.3.3, 9.2.3

Jan., 2010 SH (NA)-080551ENG-F Modifications

SAFETY PRECAUTIONS, Section 1.1.1, 2.3, 2.4, 2.6, 3.1, 5.1, 5.4.1, 5.3, 6.2.1, 7.1, Appendix 1, 4.2, 5 Addition

CONDITIONS OF USE FOR THE PRODUCT Mar., 2011 SH (NA)-080551ENG-G Modifications

SAFETY PRECAUTIONS, COMPLIANCE WITH THE EMC AND LOW VOLTAGE DIRECTIVES, GENERIC TERMS AND ABBREVIATIONS, Section 1.1.4, 2.3, 3.1, 3.3.3, 5.4.1, 6.2, 6.2.2, 7.1, 7.4, 9.3

Japanese Manual Version SH-080550-F

This manual confers no industrial property rights or any rights of any other kind, nor does it confer any patent licenses. Mitsubishi Electric Corporation cannot be held responsible for any problems involving industrial property rights which may occur as a result of using the contents noted in this manual.

© 2006 MITSUBISHI ELECTRIC CORPORATION

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INTRODUCTION

Thank you for purchasing the Mitsubishi programmable controller MELSEC-Q series. Always read through this manual, and fully comprehend the functions and performance of the Q series programmable controller before starting use to ensure correct usage of this product.

CONTENTS

SAFETY INSTRUCTIONS.............................................................................................................................A- 1 CONDITIONS OF USE FOR THE PRODUCT .............................................................................................A- 4 REVISIONS....................................................................................................................................................A- 5 INTRODUCTION............................................................................................................................................A- 6 CONTENTS....................................................................................................................................................A- 6 USING THIS MANUAL .................................................................................................................................A- 10 COMPLIANCE WITH THE EMC AND LOW VOLTAGE DIRECTIVES......................................................A- 10 GENERIC TERMS AND ABBREVIATIONS ................................................................................................A- 11 COMPONENT LIST ......................................................................................................................................A- 11

SECTION 1 PRODUCT SPECIFICATIONS AND HANDLING

1 PRODUCT OUTLINE 1- 1 to 1- 12

1.1 Positioning control.................................................................................................................................... 1- 1 1.1.1 Features of QD70D........................................................................................................................... 1- 1 1.1.2 Mechanism of positioning control ..................................................................................................... 1- 3 1.1.3 Outline design of positioning control system.................................................................................... 1- 5 1.1.4 Communicating signals between QD70D and each module........................................................... 1- 8

1.2 Positioning control................................................................................................................................... 1- 10 1.2.1 Outline of starting ............................................................................................................................. 1- 10 1.2.2 Outline of stopping ........................................................................................................................... 1- 11

2 SYSTEM CONFIGURATION 2- 1 to 2- 11

2.1 General image of system......................................................................................................................... 2- 1 2.2 Component list ......................................................................................................................................... 2- 2 2.3 Applicable systems .................................................................................................................................. 2- 3 2.4 Using QD70D with Redundant CPUs...................................................................................................... 2- 7 2.5 About Use of the QD70D on the MELSECNET/H Remote I/O Station.................................................. 2- 8 2.6 Checking Function Version, Serial Number and Software Version........................................................ 2- 9

3 SPECIFICATIONS AND FUNCTIONS 3- 1 to 3- 14

3.1 Performance specifications...................................................................................................................... 3- 1 3.2 List of functions ........................................................................................................................................ 3- 2 3.3 Specifications of input/output signal with Programmable Controller CPU ............................................. 3- 4

3.3.1 List of input/output signals with programmable controller CPU....................................................... 3- 4 3.3.2 Details of input signal (QD70D Programmable controller CPU) ................................................. 3- 5 3.3.3 Details of output signals (Programmable controller CPU QD70D) ............................................. 3- 6

3.4 Specifications of input/output interfaces with external device ................................................................ 3- 7 3.4.1 Electrical specifications of input/output signals ................................................................................ 3- 7 3.4.2 Signal layout for external device connection connector................................................................... 3- 8 3.4.3 List of input/output signal details...................................................................................................... 3- 10 3.4.4 Input/output interface internal circuit................................................................................................ 3- 12

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4 DATA USED FOR POSITIONING CONTROL(LIST OF BUFFER MEMORY ADDRESSES) 4- 1 to 4- 38

4.1 Type of data ............................................................................................................................................. 4- 1 4.1.1 Parameters and data required for control......................................................................................... 4- 1 4.1.2 Setting items for parameters............................................................................................................. 4- 3 4.1.3 Setting items for OPR data ............................................................................................................... 4- 4 4.1.4 Setting items for JOG data................................................................................................................ 4- 5 4.1.5 Setting items for positioning data...................................................................................................... 4- 6 4.1.6 Type and roles of monitor data ......................................................................................................... 4- 7 4.1.7 Type and roles of control data .......................................................................................................... 4- 8

4.2 List of parameters .................................................................................................................................... 4- 9 4.3 List of OPR data...................................................................................................................................... 4- 19 4.4 List of JOG data ...................................................................................................................................... 4- 27 4.5 List of positioning data ............................................................................................................................ 4- 28 4.6 List of monitor data.................................................................................................................................. 4- 34

4.6.1 Axis monitor data.............................................................................................................................. 4- 34 4.6.2 Module information monitor data ..................................................................................................... 4- 36

4.7 List of control data................................................................................................................................... 4- 37 4.7.1 Axis control data............................................................................................................................... 4- 37

5 SETUP AND PROCEDURES BEFORE OPERATION 5- 1 to 5- 21

5.1 Handling precautions ............................................................................................................................... 5- 1 5.2 Procedures before operation ................................................................................................................... 5- 3 5.3 Part Names .............................................................................................................................................. 5- 4 5.4 Wiring ....................................................................................................................................................... 5- 7

5.4.1 Wiring precautions............................................................................................................................. 5- 7 5.5 Confirming the wiring .............................................................................................................................. 5- 12

5.5.1 Confirmation items at completion of wiring ..................................................................................... 5- 12 5.6 Switch setting for intelligent function module ......................................................................................... 5- 14 5.7 Simple reciprocating operation ............................................................................................................... 5- 19

6 UTILITY PACKAGE (GX Configurator-PT) 6- 1 to 6- 19

6.1 Utility package functions .......................................................................................................................... 6- 1 6.2 Installing and Uninstalling the Utility Package ........................................................................................ 6- 2

6.2.1 Handling precautions ........................................................................................................................ 6- 2 6.2.2 Operating environment...................................................................................................................... 6- 4

6.3 Utility Package Operation ........................................................................................................................ 6- 6 6.3.1 Common utility package operations ................................................................................................. 6- 6 6.3.2 Operation overview ........................................................................................................................... 6- 8 6.3.3 Starting the Intelligent function module utility.................................................................................. 6- 10

6.4 Initial setting............................................................................................................................................. 6- 12 6.5 Auto refresh setting ................................................................................................................................. 6- 14 6.6 Monitoring/test......................................................................................................................................... 6- 16

6.6.1 Monitoring/Test screen..................................................................................................................... 6- 16

7 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL 7- 1 to 7- 26

7.1 Precautions for creating program ............................................................................................................ 7- 1 7.2 List of devices used.................................................................................................................................. 7- 3

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7.3 Creating a program .................................................................................................................................. 7- 7

7.3.1 General configuration of program..................................................................................................... 7- 7 7.3.2 Positioning control operation program.............................................................................................. 7- 8

7.4 Positioning control program examples ................................................................................................... 7- 10 7.5 Program details ....................................................................................................................................... 7- 16

7.5.1 Initialization program ........................................................................................................................ 7- 16 7.5.2 Start method setting program .......................................................................................................... 7- 17 7.5.3 Start program.................................................................................................................................... 7- 17 7.5.4 Sub program..................................................................................................................................... 7- 23

SECTION 2 CONTROL DETAILS AND SETTING

8 OPR CONTROL 8- 1 to 8- 21

8.1 Outline of OPR control ............................................................................................................................. 8- 1 8.1.1 Two types of OPR control ................................................................................................................. 8- 1

8.2 Machine OPR control............................................................................................................................... 8- 2 8.2.1 Outline of the machine OPR operation............................................................................................. 8- 2 8.2.2 Machine OPR method....................................................................................................................... 8- 3 8.2.3 OPR method (1): Near-point dog method ........................................................................................ 8- 5 8.2.4 OPR method (2): Stopper 1 .............................................................................................................. 8- 8 8.2.5 OPR method (3): Stopper 2 ............................................................................................................. 8- 10 8.2.6 OPR method (4): Stopper 3 ............................................................................................................. 8- 12 8.2.7 OPR method (5): Count 1 ................................................................................................................ 8- 14 8.2.8 OPR method (6): Count 2 ................................................................................................................ 8- 16

8.3 Fast OPR control..................................................................................................................................... 8- 18 8.3.1 Outline of the fast OPR control operation........................................................................................ 8- 18

8.4 OPR retry function................................................................................................................................... 8- 19

9 POSITIONING CONTROL 9- 1 to 9- 18

9.1 Outline of positioning controls.................................................................................................................. 9- 1 9.1.1 Data required for positioning control................................................................................................. 9- 1 9.1.2 Operation patterns of positioning controls........................................................................................ 9- 2 9.1.3 Designating the positioning address................................................................................................. 9- 8 9.1.4 Confirming the current value............................................................................................................. 9- 9

9.2 Setting the positioning data .................................................................................................................... 9- 10 9.2.1 Relation between each control and positioning data ...................................................................... 9- 10 9.2.2 1-axis linear control .......................................................................................................................... 9- 11 9.2.3 Speed-position switching control ..................................................................................................... 9- 13 9.2.4 Current value changing.................................................................................................................... 9- 16

9.3 Multiple axes simultaneous start control ................................................................................................ 9- 17

10 JOG OPERATION 10- 1 to 10- 6

10.1 Outline of JOG operation ..................................................................................................................... 10- 1 10.2 JOG operation execution procedure ................................................................................................... 10- 3 10.3 JOG operation example....................................................................................................................... 10- 4

11 SUB FUNCTIONS 11- 1 to 11- 17

11.1 Outline of sub functions ....................................................................................................................... 11- 1

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11.2 Speed limit function.............................................................................................................................. 11- 1 11.3 Speed change function ........................................................................................................................ 11- 2 11.4 Software stroke limit function............................................................................................................... 11- 5 11.5 Target position change function .......................................................................................................... 11- 9 11.6 Acceleration/deceleration processing function...................................................................................11- 11 11.7 Restart function ...................................................................................................................................11- 15

12 COMMON FUNCTIONS 12- 1 to 12- 3

12.1 Outline of common functions ............................................................................................................... 12- 1 12.2 External I/O signal switching function.................................................................................................. 12- 1 12.3 External I/O signal monitor function .................................................................................................... 12- 2

13 TROUBLESHOOTING 13- 1 to 13- 16

13.1 Error and warning details ..................................................................................................................... 13- 1 13.2 List of errors ......................................................................................................................................... 13- 3 13.3 List of warnings ...................................................................................................................................13- 13 13.4 Error check by LED indication ............................................................................................................13- 15 13.5 Confirming the error definitions using system monitor of GX Developer ..........................................13- 16

APPENDICES App- 1 to App- 16

Appendix 1 External dimension drawing ...................................................................................................App- 1 Appendix 2 Operation timing and processing time in each control ..........................................................App- 2 Appendix 3 Connection examples with servo amplifiers manufactured by Mitsubishi Electric

Corporation .............................................................................................................................App- 6 Appendix 3.1 Connection example of QD70D and MR-J3- A.............................................................App- 6 Appendix 3.2 Connection example of QD70D and MR-J2/J2S- A .....................................................App- 7 Appendix 3.3 Connection example of QD70D and MR-H A ...............................................................App- 8 Appendix 3.4 Connection example of QD70D and MR-C A ...............................................................App- 9

Appendix 4 Comparisons with conventional positioning module .............................................................App-10 Appendix 4.1 Comparisons with type QD70P positioning module .......................................................App-10 Appendix 4.2 Comparisons with type QD75 positioning module..........................................................App-11

Appendix 5 List of buffer memory addresses............................................................................................App-14

INDEX Index- 1 to Index- 4

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USING THIS MANUAL

The symbols used in this manual are shown below.

Pr. ...... Symbol indicating positioning parameter item. OPR. ....... Symbol indicating OPR data item. JOG. ....... Symbol indicating JOG data item. Da. ...... Symbol indicating positioning data item. Md. ...... Symbol indicating monitor data item. Cd. ....... Symbol indicating control data item.

(A serial No. is inserted in the mark.)

Numeric values used in this manual

• The buffer memory addresses, error codes and warning codes are represented in decimal.

• The X/Y devices are represented in hexadecimal. • The setting data and monitor data are represented in either decimal or

hexadecimal. The data ended by "H" are represented in hexadecimal. (Example) 10.........10 Decimal

10H......16 Hexadecimal

COMPLIANCE WITH THE EMC AND LOW VOLTAGE DIRECTIVES

(1) For programmable controller system To ensure that Mitsubishi programmable controllers maintain EMC and Low Voltage Directives when incorporated into other machinery or equipment, certain measures may be necessary. Please refer to the manual included with the CPU module or base unit. The CE mark on the side of the programmable controller indicates compliance with EMC and Low Voltage Directives.

(2) For the product To ensure that this product maintains EMC and Low Voltage Directives, please refer to Section 5.4.1.

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GENERIC TERMS AND ABBREVIATIONS

Unless specially noted, the following generic terms and abbreviations are used in this manual.

Generic term/abbreviation Details of generic term/abbreviation Programmable controller CPU

Generic term for programmable controller CPU on which QD70D can be mounted.

QD70D Generic term for type QD70D positioning module QD70D4/QD70D8. The module type is described to indicate a specific module.

QD70P Generic term for type QD70P positioning module QD70P4/QD70P8. The module type is described to indicate a specific module.

QD75 Generic term for positioning module QD75P1, QD75P2, QD75P4, QD75D1, QD75D2, and QD75D4. The module type is described to indicate a specific module.

Peripheral device Generic term for DOS/V personal computer where following "GX Configurator-PT" and ""GX Developer" have been installed.

GX Configurator-PT Abbreviation for GX Configurator-PT (SW1D5C-QPTU-E) utility package for QD70D positioning module.

GX Developer GX Works2

Product name of MELSEC programmable controller software package.

DOS/V personal computer IBM PC/AT® and compatible DOS/V compliant personal computer.

Personal computer Generic term for DOS/V personal computer. Workpiece Generic term for moving body such as workpiece and tool, and for various control targets. Axis 1, axis 2, axis 3, axis 4, axis 5, axis 6, axis 7, axis 8

Indicates each axis connected to QD70D.

1-axis, 2-axes, 3-axes, 4-axes, 5-axes, 6-axes, 7-axes, 8-axes

Indicates the number of axes. (Example: 2-axes = Indicates two axes such as axis 1 and axis 2, axis 2 and axis 3, and axis 3 and axis 1.)

Windows Vista®

Generic term for the following: Microsoft® Windows Vista® Home Basic Operating System,

Microsoft® Windows Vista® Home Premium Operating System,

Microsoft® Windows Vista® Business Operating System,

Microsoft® Windows Vista® Ultimate Operating System,

Microsoft® Windows Vista® Enterprise Operating System

Windows® XP

Generic term for the following: Microsoft® Windows® XP Professional Operating System,

Microsoft® Windows® XP Home Edition Operating System

Windows® 7

Generic term for the following: Microsoft® Windows® 7 Starter Operating System,

Microsoft® Windows® 7 Home Premium Operating System,

Microsoft® Windows® 7 Professional Operating System,

Microsoft® Windows® 7 Ultimate Operating System,

Microsoft® Windows® 7 Enterprise Operating System

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COMPONENT LIST

The component list of this product is given below.

Type Component Quantity QD70D4 Type QD70D4 Positioning Module (4-axes differential output type) 1 QD70D8 Type QD70D8 Positioning Module (8-axes differential output type) 1 SW1D5C-QPTU-E GX Configurator-PT Version 1 (1-license product) (CD-ROM) 1 SW1D5C-QPTU-EA GX Configurator-PT Version 1 (Multiple-license product) (CD-ROM) 1

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MEMO

SECTION 1 PRODUCT SPECIFICATIONS AND HANDLING

Section 1 is configured for the following purposes (1) to (5).

(1) To understand the outline of positioning control, and the QD70D specifications and functions (2) To carry out actual work such as installation and wiring (3) To set parameters and data required for positioning control (4) To create a sequence program required for positioning control Read "Section 2" for details on each control.

CHAPTER 1 PRODUCT OUTLINE ................................................................................. 1- 1 to 1- 12 CHAPTER 2 SYSTEM CONFIGURATION ..................................................................... 2- 1 to 2- 11 CHAPTER 3 SPECIFICATIONS AND FUNCTIONS...................................................... 3- 1 to 3- 14 CHAPTER 4 DATA USED FOR POSITIONING CONTROL.......................................... 4- 1 to 4- 38 CHAPTER 5 SETUP AND PROCEDURES BEFORE OPERATION............................. 5- 1 to 5- 21 CHAPTER 6 UTILITY PACKAGE.................................................................................... 6- 1 to 6- 19 CHAPTER 7 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL .......... 7- 1 to 7- 26

SEC

TIO

N 1

MEMO

SEC

TIO

N 1

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MELSEC-Q1 PRODUCT OUTLINE

CHAPTER 1 PRODUCT OUTLINE

This User's Manual provides the specifications, handling, programming methods and other information of the QD70D positioning module used with the MELSEC-Q series CPU module. When diverting any of the program examples introduced in this manual to the actual system, fully verify that there are no problems in the controllability of the target system.

1.1 Positioning control

1.1.1 Features of QD70D

The following are the features of the QD70D.

(1) Wide assortment of 4-axes and 8-axes modules The QD70D is a positioning module used in a multi-axes system that does not need complex control. It is not compatible with the MELSEC-A series AD70 positioning module in I/O signals, functions, etc.

(2) About positioning control functions

(a) The QD70D has a number of functions required for a positioning control system, such as positioning control to any position and equal-speed control. 1) You can set up to 10 pieces of positioning data, which include

positioning address, control method, operation pattern and like, per axis. These positioning data are used to exercise positioning control axis-by-axis.

2) Axis-by-axis positioning control allows linear control (up to 8 axes can be controlled simultaneously). This control can perform positioning termination with one piece of positioning data or exercise continuous positioning control by continuous execution of multiple pieces of positioning data.

(b) As the control method, any of position control, speed-position switching control and current value changing may be specified in each positioning data.

(c) The target position change function or the speed change function allows the position or speed change during positioning control.

(d) The OPR (Original Point Return: Zero return) control has been enhanced. 1) The following six different OPR methods are available for "machine

OPRcontrol": near-point dog method (one method), stopper (three methods) and count (two methods).

2) The OPR retry function has been provided to realize the return from any given point to a mechanical origin.

(e) Two kinds of the acceleration/deceleration methods have been offered: The trapezoidal and S-curve acceleration/deceleration*. As the speed changes gradually and smoothly, this module is suitable for motor control.

* When "Continuous positioning control" or "Continuous path control" is selected for the operation pattern, S-curve acceleration/deceleration is not available.

(f) You can change the I/O signal logic according to the specifications of the external device. This allows the input signals to be used with either of "normally open" and "normally closed" contacts, and the output signals to be used according to the specifications of the drive unit.

1

1 - 2 1 - 2


(3) Fast start processing

Processing at a position control start has been speeded up to shorten the start processing time of one axis to 0.1ms. At a simultaneous start of multiple axes (the positioning start signals are turned ON at the same time within one scan), there are no starting delays between the axes.

(4) High-speed pulse output and longer connection distance to a drive

unit By using differential driver output, the speed of pulse command has been improved (Max. 4 Mpps) and longer connection distance to a driver unit (Max. 10m) has been enabled.

(5) Ease of maintenance

In the QD70D, error definitions have been subdivided to improve maintenance performance.

(6) Easy setting using GX Configurator-PT

With optional GX Configurator-PT, the QD70D settings can be configured on screen. This reduces a load on sequence programs and makes checking the settings and operating status of the module easier.

1

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1.1.2 Mechanism of positioning control

Positioning control using the QD70D is exercised using "pulse signals". (The QD70D is a module that outputs pulses.) In a positioning control system using the QD70D, a variety of software and external devices are used to play their roles as shown below. The QD70D imports various signals, parameters and data, and exercises control with the programmable controller CPU to realize complex positioning control.

Stores the created program.

The QD70D outputs the positioning start signal andaxis stop signal following the stired program.

QD70D errors, etc., are detected.

Peripheral deviceGX Developer/GX Configurator-PT

QD70D positioning

module

Driveunit

Stores the parameter and dataOutputs to the drive unit according to the instructins from the programmablecontroller CPU.

Receives pulses commands from QD70D, and drives the motor.

Carries out the actual work according tocommands from the drive unit

Motor

Workpiece

Using GX Developer, create control sequence and conditionsas sequence program.Adding in GX Configurator-PTenables initial setting of parameters and data.

Input near-point dog signal and speed-position switching signal / retry switch signal to QD70D.

Mechanical system inputs

(Switches)

Programmablecontroller CPU

1 - 4 1 - 4


The principle of "position control" and "speed control" operation is shown below.

Position control The total No. of pulses required to move the designated distance is obtained in the following manner.

Total No. of pulsesrequired to movedesignated distance

Designated distance

Movement amount of machine (load)side when motor rotates once

No. of pulses required for motor to rotate once

=

* The No. of pulses required for the motor to rotate once is the "encoder resolution" described in the motor catalog specification list.

When this total No. of pulses is issued from the QD70D to the drive unit, control to move the designated distance can be executed. The machine side movement amount when one pulse is issued to the drive unit is called the "movement amount per pulse". This value is the min. value for the workpiece to move, and is also the electrical positioning control precision.

Speed control Though the above "total No. of pulses" is an element needed to control the movement amount, speed must be controlled to perform equal-speed operation. This "speed" is controlled by the "pulse frequency" output from the QD70D to the drive unit.

Speed=Pulses frequencyMovement amount=No. of pulesesFeedback pulses= Pulses generated by detector

Positioning module

Servo amplifiter

Servo motor

Detector

Feedback pulses

Pulseencoder

A

ta td

0.4 0.41.2

(s)

Pulse frequency[pps]

This area is hte totalNo. of commandedpulses.

Movement amount t = 2 Fig. 1.1 Relationship between position control and speed control

POINT

• The "movement amount per pulse" is the value determined on the machine side. (Refer to Section 1.1.3.)

• The QD70D uses the "total No. of pulses" to control the position, and uses the "pulse frequency" to control the speed.

1 - 5 1 - 5


1.1.3 Outline design of positioning control system

The outline of the positioning control system operation and design, using the QD70D, is shown below.

(1) Positioning control system using QD70D

Positioning module

QD70D

Programmable controllerCPU

M

PLG

GX Configurator-PT

Program

Intelligentfunction moduleparameter

Read, write, etc.

Monitor date read

Initial setting /Auto rofresh setting/Monitor

Drive unit

Buffermemories/XY device

Forward runpulse train

Reverse runpulse train

Deviationcounter

D/Aconverter

Speedcommand Servo

amplifiter

Interface

Feedback pulse

Servomotor

Fig. 1.2 Outline of the operation of positioning control system using QD70D

(a) Positioning operation by the QD70D

1) The QD70D output is a pulse train. The pulse train output by the QD70D is counted by and stored in the deviation counter in the drive unit. The D/A converter outputs an analog DC current proportionate to the count maintained by the deviation counter (called "pulse droop"). The analog DC current serves as the servomotor speed control signal.

2) The servomotor rotation is controlled by the speed control signal from the drive unit. As the servomotor rotates, the pulse encoder (PLG) attached to the servomotor generates feedback pulses, the frequency of which is proportionate to the rotation speed. The feedback pulses are fed back to the drive unit and decrements the pulse droop, the pulse count maintained by the deviation counter. The motor keeps on rotating as the pulse droop is maintained at a certain level.

3) When the QD70D terminates the output of a pulse train, the servomotor decelerates as the pulse droop decreases and stops when the count drops to zero. Thus, the servomotor rotation speed is proportionate to the pulse frequency, while the overall motor rotation angle is proportionate to the total number of pulses output by the QD70D. Therefore, when a movement amount per pulse is given, the overall movement amount can be determined by the number of pulses in the pulse train. The pulse frequency, on the other hand, determines the servomotor rotation speed (feed speed).

1 - 6 1 - 6


(b) Pulse train output from the QD70D

1) As shown in Fig. 1.3, the pulse frequency increases as the servomotor accelerates. The pulses are sparse when the servomotor starts and more frequent when the servomotor speed comes close to the target speed.

2) The pulse frequency stabilizes when the motor speed equals the target speed.

3) The QD70D decreases the pulse frequency (sparser pulses) to decelerate the servomotor before it finally stops the output. There will be a little difference in timing between the decrease in the pulse frequency and the actual deceleration and stopping of the servomotor. This difference, called "the stop settling time", is required for gaining a stopping accuracy.

Speed V Pulse droopamount Pulse

distribution

Servomotorspeed

Accel-eration

Decel-eration

Time t

Stopsetting time

Pulse train Rough Dense Rough Fig. 1.3 QD70D output pulses

1 - 7 1 - 7


(2) Movement amount and speed in a system using worm gears

V

L

P0P

WorkpieceWorm pear

Table

Pulse encoder(PLG)

Servomotor

A : Movement amount per pulse (mm/pulse) Vs : Command pulse frequency (pulse/s) n : Pulse encoder resolution (pulse/rev) L : Worm gear lead (mm/rev) R : Deceleration ratio V : Movable section speed (mm/s) N : Motor speed (r/min) K : Position loop gain (1/s) ε : Deviation counter droop pulse amount P0 : OP (pulse) P : Address (pulse)

Fig. 1.4 System using worm gears

In the system shown in Fig. 1.4, the movement amount per pulse, command pulse frequency, and the deviation counter droop pulser amount are determined as follows:

1) Movement amount per pulse The movement amount per pulse is determined by the worm gear lead, deceleration ratio, and the pulse encoder resolution. The movement amount, therefore, is given as follows: (Number of pulses output) × (Movement amount per pulse).

L A = R × n [mm/pulse]

2) Command pulse frequency

The command pulse frequency is determined by the speed of the moving part and movement amount per pulse.

V Vs = A [pulse/s]

3) Deviation counter droop pulser amount. The deviation counter droop pulser amount is determined by the command pulse frequency and position loop gain.

Vs ε = K [pulse]

1 - 8 1 - 8


1.1.4 Communicating signals between QD70D and each module

The outline of the signal communication between the QD70D (positioning module) and programmable controller CPU, peripheral device (GX Configurator-PT) and drive unit, etc., is shown below. (A peripheral device communicates with the QD70D via the programmable controller CPU to which it is connected) Refer to Section 3.3.2 for details of the I/O signals.

ProgrammablecontrollerREADY signal

Module READY signal

JOG start signal

BUSY signal

Driveunit

Deviation counter clearPulse train

QD70D

Yn0

Xn0

Near-point dog singal

Monitor data

Y(n+1)8 to Y(n+1)F

X(n+1)0 to X(n+1)7Y(n+1)0 to Y(n+1)7

Xn1

Yn8 to YnF

X(n+1)8 to X(n+1)F

Xn8 to XnF

Xn2

Axis warning occurrencesignal

Peripheral device(GX Configurator-PT)

Initial setting/Auto refresh/Operation monitor

Positioning start

Start complete signalAxis stop signal

Positioning completesignal

Axis error occurrencesignal

Mechanicalsystem inputs

(Switches)Speed-position switchingsignal / Retry switch signal

Zero signal

Date write/read

Interfacewith

Programmablecontroller

CPU

Peripheraldevice

interface

Externalinterface

Programmable controller CPU

1 - 9 1 - 9


QD70D Programmable controller CPU The QD70D and programmable controller CPU communicate the following data via the base unit.

Direction Communication

QD70D Programmable controller CPU

Programmable controller CPU QD70D

Control signal

Signal indication QD70D state. • Module READY (Xn0) • Axis error occurrence (Xn1) • Axis warning occurrence (Xn2) • BUSY (Xn8 to XnF) • Start complete (X(n+1)0 to Xn(n+1)7)• Positioning complete (X(n+1)8 to

X(n+1)F)

Signal related to commands. • Programmable controller READY (Yn0) • Positioning start (Yn8 to YnF) • Axis stop (Y(n+1)0 to Y(n+1)7) • JOG start (Y(n+1)8 to Y(n+1)F)

Data (read/write)

• Parameter • OPR data • JOG data • Positioning data • Control data • Monitor data

• Parameter • OPR data • JOG data • Positioning data • Control data

QCPU Peripheral device (GX Configurator-PT) The QCPU and peripheral device make the following communications. (Refer to Chapter 6 for details.)


QCPU Peripheral device Peripheral device QCPU

Data – • Initial setting • Auto refresh setting

Operation monitor • Monitor data (QD70D buffer

memory/XY devices) –

QD70D Drive unit The QD70D and drive unit communicate the following data via the external device connection connector.


QD70D Drive unit Drive unit QD70D

Control signal Signals related to commands • Deviation counter clear signal

(CLEAR)

Signal indicating OP • Zero signal (PG0)

Pulse train • Pulse train output (PULSE F(+/-)/

PULSE R(+/-)) –

Mechanical system inputs (switches) QD70D The input signals from the mechanical system inputs (switches) are entered into the QD70D via the external device connection connector.

Mechanical system inputs (switches) • Near-point dog signal (DOG) • Speed-position switching signal (CHG)/Retry switch signal(RTRY)

1 - 10 1 - 10


1.2 Positioning control

1.2.1 Outline of starting

The outline for starting each control is shown with the following flowchart. * It is assumed that each module is installed, and the required system configuration,

etc., has been prepared.

Machine OPR control

Fast OPR control

OPR control

Set the OPR data.OPR. 1 to OPR. 9

Preparation

Control functions

Flow of starting

Installation and connection of module

Setting of hardware

Position controlSpeed-position switching controlCurrent value changing

Positioning control

JOG operation

Parameter

Positioningdata

OPR data

Control data

Start signal

Control start

Control end

Set the parameters.

Set the start method.( Da. 1 to Da. 7 )

Operation

Stop

Turn ON the QD70D start signal fromthe programmable controller CPU

Set the positioning data. ( Da. 1 to Da. 7 )

Set the JOG data( JOG. 1 to JOG. 4 )

JOG data

( Pr. 1 to Pr. 10 )

* : Positioning control can make a multiple axes simultaneous start. (Refer to "Section 9.3" for details.)

Turn the QD70D JOGstart signal ON fromthe programmable controller CPU

1 - 11 1 - 11


1.2.2 Outline of stopping

The possible causes of a control stop are as follows.

(1) Control ended normally (2) An error occurred in the programmable controller CPU (3) An error occurred in the QD70D (4) The axis stop signal from the programmable controller CPU turned ON

Stop processings performed in the above cases are outlined in the following table. (Except the case (1) where control stopped normally)

Stop processing Stop factor Stopped axis

Axis operation status (Md. 4) after stop OPR

control Positioning

control JOG

operation

Programmable controller CPU error All axes Error Deceleration stop Software stroke limit upper/lower limit error *1

Axis by axis Error Deceleration stop QD70D error

Other error Axis by axis Error Deceleration stop *2

"Axis stop signal" from programmable controller CPU turned ON

Axis by axis Stopped Deceleration stop *3

*1: By making parameter setting, you can set the software stroke limit valid/invalid. When the stroke limit is set invalid, a deceleration stop is not made. (Refer to Section 4.2.)

*2: If an illegal positioning data setting value caused an error during position control (operation pattern: continuous path control), an immediate stop is made at the positioning data preceding that illegal setting value. (Refer to Section 9.1.2.)

*3: For position control, you can make parameter setting to select the stopping method (position match stop or deceleration stop). (Refer to Section 4.2.)

Stop after multiple axes simultaneous start under positioning control The axes started will not stop simultaneously. The stop command (axis stop signal ON) must be given to each axis.

1 - 12 1 - 12


Pulse output operation at stop When the axis stops due to stop cause occurrence, if there is the pulse being output when the set deceleration stop time has elapsed from the start of deceleration stop, the output as much as 1 pulse will be done. The following shows the pulse output operation at deceleration stop.

ON

OFF

V

t

Pulse that is being output when set deceleration stop time has elapsed will be output.

Bias speed at start

Stop cause occurrence(Start of deceleration stop)

Set deceleration stop time

Pulse output

BUSY signal

1 pulse

*4

*5

*7

*6

*4: "Stop cause" indicates any of the following.

• Error occurred in the programmable controller CPU or QD70D. • JOG start signal (Y(n+1)8 to Y(n+1)F) has turned OFF during JOG operation. • Axis stop signal (Y(n+1)0 to Y(n+1)7) has turned ON. • Speed change to speed 0 (pulse/s) (when bias speed at start is 0 (pulse/s)) • Machine OPR control of count 2

*5: "Set deceleration stop time" is any of the following. • During positioning control : Da. 4 DEC/STOP time • At speed change to speed 0 (pulse/s) : Cd. 9 DEC/STOP time at speed change • During machine OPR control of count 2 : OPR. 7 DEC/STOP time at OPR • During JOG operation : JOG. 3 JOG DEC time

*6: When the axis is decelerated to a stop by a speed change to speed 0 (pulse/s), the BUSY signal does not turn OFF.

*7: The same operation is performed when an immediate stop cause occurs during machine OPR control (except the case of count 2).

*8: Pulse output can be set to stop at the point of time when "Preset deceleration stop time" is elapsed. For details, refer to section 4.1 Type of data, "Pr.12 Pulse output method (stop signal enabled)".

2 - 1 2 - 1

MELSEC-Q2 SYSTEM CONFIGURATION

CHAPTER 2 SYSTEM CONFIGURATION

This chapter explains the system configuration of the QD70D. 2.1 General image of system

The following is the general configuration including the QD70D, programmable controller CPU, peripheral device and others. (The numbers in the sketch correspond to the "Nos." in the table in "Section 2.2 Component list" on the next page.)

Extension system

6

Driveunit Motor

4

5

RS-232cable

USB cable

1

Positioning moduleQD70D4/QD70D8

7

Connectioncable

Mechanical system inputs (switches)Near-point dog signalSpeed-position switching signal / Retry switch signal

Extensioncable

Power supplymodule *2

Main base unit *2

CPU module *1

3 2GX Developer

(SW D5C-GPPW-E)

GX Configurator-PT(SW D5C-QPTU-E)

Peripheral devicePersonalcomputer

REMARK *1: For the usable CPU module, refer to "Section 2.3 Applicable system". *2: For the usable base unit and power supply module, refer to the CPU Module

User's Manual.

2

2 - 2 2 - 2


2.2 Component list

A positioning system using the QD70D consists of the following components. No. Product Type Remarks

1 Positioning module QD70D4 QD70D8

QD70D

No. of control axesDifferential output type

GX Developer SW D5C-GPPW-E2

GX Configurator-PT SW D5C-QPTU-E For details, refer to the GX Developer Operating Manual and "CHAPTER 6 UTILITY PACKAGE (GX Configurator-PT)".

3 Personal computer DOS/V personal computer

(User-prepared) Refer to the GX Developer Operating Manual for details.

4 RS-232 cable QC30R2

(User-prepared) RS-232 cable for connection of the CPU module and DOS/V personal computer. Refer to the GX Developer Operating Manual for details.

5 USB cable –

(User-prepared) USB cable for connection of the CPU module and DOS/V personal computer. Refer to the GX Developer Operating Manual for details.

6 Drive unit – (User-prepared) Refer to the drive unit manual for details.

7

Connection cable (for connection of QD70D and drive unit)

–

(User-prepared) Cable for connection of the QD70D and drive unit or mechanical system input signals. (To be fabricated in reference to the connected device manual and Section 3.4.2)

2

2 - 3 2 - 3


2.3 Applicable systems

This section describes applicable systems.

(1) Applicable modules and base units, and No. of modules (a) When mounted with a CPU module

The table below shows the CPU modules and base units applicable to the QD70D and quantities for each CPU model. Depending on the combination with other modules or the number of mounted modules, power supply capacity may be insufficient. Pay attention to the power supply capacity before mounting modules, and if the power supply capacity is insufficient, change the combination of the modules.

Applicable CPU module Base unit *2

CPU type CPU model No. of modules *1

Main base unit Extension base

unit

Q00JCPU Up to 4

Q00CPU Basic model QCPU

Q01CPU Up to 12

Q02CPU Q02HCPU

Q06HCPU Q12HCPU

High Performance model QCPU

Q25HCPU

Up to 32

Q02PHCPU Q06PHCPU

Q12PHCPU Process CPU

Q25PHCPU

Up to 32

Q12PRHCPU Redundant CPU

Q25PRHCPU Up to 26 *3

Q00UJCPU Up to 4

Q00UCPU Q01UCPU

Up to 12

Q02UCPU Up to 13 Q03UDCPU

Q04UDHCPU

Q06UDHCPU Q10UDHCPU

Q13UDHCPU Q20UDHCPU

Programmable controller CPU

Universal model QCPU

Q26UDHCPU

Up to 32

2 - 4 2 - 4


Applicable CPU module Base unit *2

CPU type CPU model No. of modules *1

Main base unit Extension base

unit

Q03UDECPU Q04UDEHCPU

Q06UDEHCPU

Q10UDEHCPU Q13UDEHCPU

Q20UDEHCPU Q26UDEHCPU

Q50UDEHCPU

Universal model QCPU

Q100UDEHCPU

Up to 32 Programmable controller CPU

Safety CPU QS001CPU N/A *4

Q06CCPU-V-H01Q06CCPU-V

Q06CCPU-V-B C Controller module

Q12DCCPU-V

Up to 32

: Applicable : N/A

*1 The CPU modules can be mounted within the range of each number of I/O points.

*2 The CPU modules can be mounted on any I/O slots of the base units. *3 Use the QD70D whose serial No. (first five digits) is 09012 or later. *4 The safety CPU cannot be connected with extension base units.

REMARK

For the use of the C Controller module, refer to the C Controller Module User's Manual.

2 - 5 2 - 5


(b) Mounting to a MELSECNET/H remote I/O station

The table below shows the network modules and base units applicable to the QD70D and quantities for each network module model. Depending on the combination with other modules or the number of mounted modules, power supply capacity may be insufficient. Pay attention to the power supply capacity before mounting modules, and if the power supply capacity is insufficient, change the combination of the modules.

Base unit *2

Applicable network module No. of modules *1 Main base unit of remote I/O station

Extension base unit of remote I/O station

QJ72LP25-25 QJ72LP25G

QJ72LP25GE QJ72BR15

Up to 32

: Applicable : N/A

*1 Limited within the range of I/O points for the network module. *2 Can be installed to any I/O slot of a base unit.

REMARK

The Basic model QCPU or C Controller module cannot create the MELSECNET/H remote I/O network.

2 - 6 2 - 6


(2) Support of the multiple CPU system

When using the QD70D in a multiple CPU system, refer to the following manual first. • QCPU User's Manual (Multiple CPU System) (a) Supported QD70D

The function version of the QD70D has been "B" from the first release product, supporting the multiple CPU system.

(b) Intelligent function module parameters Write intelligent function module parameters to only the control CPU of the QD70D.

(3) Supported software packages

Relation between the system containing the QD70D and software package is shown in the following table. GX Developer or GX Works2 is necessary when using the QD70D.

Software Version

GX Developer GX Configurator-PT GX Works2

Single CPU system Version 7 or later Q00J/Q00/Q01CPU

Multiple CPU system Version 8 or later

Single CPU system Version 4 or later Q02/Q02H/Q06H/ Q12H/Q25HCPU Multiple CPU system Version 6 or later

Version 1.15R or later

Single CPU system Q02PH/Q06PHCPU

Multiple CPU system Version 8.68W or later

Single CPU system Q12PH/Q25PHCPU

Multiple CPU system Version 7.10L or later

Q12PRH/Q25PRHCPU Redundant CPU system Version 8.45X or later

Version 1.21X or later

cannot be used

Single CPU system Q00UJ/Q00U/Q01UCPU

Multiple CPU system Version 8.78G or later

Single CPU system Q02U/Q03UD/ Q04UDH/ Q06UDHCPU Multiple CPU system

Version 8.48A or later

Single CPU system Q10UDH/Q20UDHCPU

Multiple CPU system Version 8.78G or later

Single CPU system Q13UDH/ Q26UDHCPU Multiple CPU system

Version 8.62Q or later

Single CPU system Q03UDE/Q04UDEH/ Q06UDEH/Q13UDEH/ Q26UDEHCPU Multiple CPU system

Version 8.68W or later

Single CPU system Q10UDEH/ Q20UDEHCPU Multiple CPU system

Version 8.78G or later

Version 1.23Z or later Version 1.15R or later

Single CPU system cannot be used cannot be used Q50UDEH/

Q100UDEHCPU Multiple CPU system cannot be used cannot be used Version 1.13H or later

If installed in a MELSECNET/H remote I/O station Version 6 or later Version 1.21X or later Version 1.40S or later

2 - 7 2 - 7


2.4 Using QD70D with Redundant CPUs

This section explains use of the QD70D with the Redundant CPUs.

(1) GX Configurator-PT connection GX Configurator-PT cannot be used when the Redundant CPUs are accessed from GX Developer via an intelligent function module on an extension base unit. Connect a personal computer with a communication path indicated below.

2

1

Main base unit

Extension base unit

1 2

Direct connection to the CPU

Connection through an intelligent function module on the main base unit(Through Ethernet module, MELSECNET/H module, or CC-Link module)

(GX Configrator-PT cannot be used.)

2 - 8 2 - 8


2.5 About Use of the QD70D on the MELSECNET/H Remote I/O Station

Here, use of the QD70D on the MELSECNET/H remote I/O station is explained.

(1) Number of QD70D that can be installed when the remote I/O station is used See Section 2.3 concerning the number of QD70D that can be installed when the remote I/O station is used.

(2) Limitations when using the remote I/O station When the QD70D is used on the MELSECNET/H remote I/O station, a delay will occur due to the link scan time. Therefore, fully verify that there will be no problem with controllability in the target system.

Example) Depending on the ON time of the positioning completed signal, the ON

status may not be detected due to a delay in the link scan time.

2 - 9 2 - 9


2.6 Checking Function Version, Serial Number and Software Version

(1) Checking the function version and serial number of the QD70D

The serial number and function version of the QD70D are described in the rating plate, on the front part of the module, or displayed in the system monitor of GX Developer.

(a) Checking the rating plate located on the side of the QD70D

Relevant regulation standards

Function version

B

Serial No. (first 5 digits)

(b) Checking the front part of the module The serial number and function version described in the rating plate can be shown on the front (bottom part) of the module.

101214000000000-B

Function versionSerial number

REMARK

The serial number is displayed on the front of the module from December 2008 production. Products manufactured during switching period may not have the serial number on the front of the module.

2 - 10 2 - 10


(c) Checking the system monitor (Product Information List)

To display the system monitor, select [Diagnostics] [System monitor] and click the Product Information List button of GX Developer.

Serial No.

Function version

Product No.

1) Displaying the product No.

Since the QD70D does not support the display function, “-” is displayed in the “Product No.” field.

POINT

The serial number displayed on the Product Information List screen of GX Developer may differ from that on the rating plate and on the front of the module. • The serial number on the rating plate and front part of the module indicates the

management information of the product. • The serial number displayed on the Product Information List dialog box of GX

Developer indicates the function information of the product. The function information of the product is updated when a new function is added.

(2) Checking the software version of GX Configurator-PT

The software version of GX Configurator-PT can be checked by selecting [Help] [Product information] of GX Developer.

Software version

2 - 11 2 - 11


MEMO

3 - 1 3 - 1

MELSEC-Q3 SPECIFICATIONS AND FUNCTIONS

CHAPTER 3 SPECIFICATIONS AND FUNCTIONS

This chapter describes the performance specifications of the QD70D and the specifications of the I/O signals transferred to/from the programmable controller CPU and external device. For the general specifications of the QD70D, refer to the User's Manual of the CPU module used.

3.1 Performance specifications

Model Item QD70D4 QD70D8

No. of control axes 4 axes 8 axes Interpolation function No Control method PTP (Point To Point) control, path control (linear only), speed-position switching control Control unit pulse

Positioning data *1 10 pieces of data (positioning data No. 1 to 10)/axis (can be set using GX Configurator-PT or sequence program)

Peripheral device/utility package GX Configurator-PT (option) Data backup No

Positioning control method PTP control : Incremental system/absolute system Speed-position switching control : Incremental system Path control : Incremental system/absolute system

Positioning control range

[Absolute system] -2147483648 to 2147483647pulse

[Incremental system] -2147483648 to 2147483647pulse [Speed-position switching control]

0 to 2147483647pulse Speed command 0 to 4000000pulse/s Acceleration/deceleration processing Trapezoidal acceleration/deceleration, S-curve acceleration/deceleration *3

Positioning control

Acceleration/deceleration time 0 to 32767ms

1-axis start 0.1ms 4-axes simultaneous start 0.2ms Starting time *2 Position control 8-axes simultaneous start 0.4ms

External wiring connection system 40-pin connector Applicable wire size 0.3mm2 or lower (for use of A6CON1 or A6CON4), AWG24 (for use of A6CON2) External device connection connector (option) A6CON1, A6CON2, A6CON4

Pulse output method Differential output Max. output pulse 4Mpps Max. connection distance between QD70D and drive unit 10m

Internal current consumption (5VDC) 1.16A 2.16A No. of occupied I/O points 48 points (I/O assignment: 16 for empty + 32 for intelligent) *4 Weight 0.17kg 0.23kg

*1: Positioning data can be activated from any of data No.1 through 10. *2: A delay may occur depending on the operating conditions and starting conditions (control method, bias speed, ACC/DEC time, etc.) of

the other axes. *3: When "Continuous positioning control" or "Continuous path control" is selected for the operation pattern, S-curve

acceleration/deceleration is not available. *4: Setting of 32 points (0 for empty + 32 for intelligent) is also available by GX Developer’s I/O assignment setting.

3

3 - 2 3 - 2


3.2 List of functions

The following table lists the functions of the QD70D. (Read "SECTION 2 CONTROL DETAILS AND SETTING" for details of the functions.)

Function name Description Reference

Machine OPR control Mechanically establishes the positioning control start point using a near-point dog or stopper.

Section 8.2

Fast OPR control Positions a target to the OP address (Md. 1 Current feed value) stored in the QD70D using machine OPR control.

Section 8.3

OPR control

OPR retry function Allows machine zero return from any given position. Even if the work is located beyond the origin, machine zero return will be automatically performed.

Section 8.4

Position control (1-axis linear control)

Positions a target using a linear path to the address set in the positioning data or to the position designated with the movement amount.

Section 9.2.2

Speed-position switching control

First, carries out speed control, and then carries out position control (positioning control with designated address or movement amount) by turning the "speed-position switching signal" ON.

Section 9.2.3

Positioning control

Current value changing Changes the Current feed value (Md. 1) to the address set in the positioning data.

Section 9.2.4

JOG operation Outputs a pulse to drive unit while the JOG start signal is ON. Chapter 10

Speed limit function If the command speed exceeds " Pr. 5 Speed limit value" during control, this function limits the commanded speed to within the "Pr. 5 Speed limit value" setting range.

Section 11.2

Speed change function

The speed can be changed at any given time point during control. This function is valid during position control with operation pattern set to "Positioning termination", during speed control in the speed-position switching control or during JOG operation.

Section 11.3

Software stroke limit function If a command outside of the upper/lower limit stroke limit setting range, set in the parameters, is issued, this function will not execute positioning for that command.

Section 11.4

Target position change function

The positioning address or movement amount can be changed at any given time point during control. This function is valid during position control with operation pattern set to "Positioning termination".

Section 11.5

Acceleration/deceleration processing function

This function adjusts the acceleration/deceleration processing of control.

Section 11.6

Sub function

Restart function This function resumes positioning control during a stop of the axis from where it had stopped.

Section 11.7

External I/O signal logic switching function

This function changes the external I/O signal logic to match the externally connected device. It can be changed by making the intelligent function module switch setting.

Section 12.2

Common function

External I/O signal monitor function This function monitors the external I/O signal states using GX Developer.

Section 5.5

Section 12.3

3

3 - 3 3 - 3


With the "positioning control", whether or not to continuously execute the positioning data can be set with the "operation pattern". Outlines of the "operation patterns" are given below.

Da. 1 Operation pattern Description Reference

Positioning termination When "Positioning termination" is set for the operation pattern of the started positioning data, only the designated positioning data will be executed, and then the positioning control will end.

Continuous positioning control

When "continuous positioning control" is set for the operation pattern of the started positioning data, after the designated positioning data is executed, the program will stop once, and then the next following positioning data will be executed.

Continuous path control

When "continuous path control" is set for the operation pattern of the started positioning data, the designated positioning data will be executed, and then without decelerating, the next following positioning data will be executed.

9.1.2

3 - 4 3 - 4


3.3 Specifications of input/output signal with Programmable Controller CPU

3.3.1 List of input/output signals with programmable controller CPU

The table below shows I/O signals of the QD70D. For the QD70D I/O assignment, the first16 points and other 32 points are reserved for free space and for intelligent function modules accordingly. When the QD70D is installed to slot No.0 of the main base unit, device No.Xn0 is regarded as X10. Note that, if 0 point is set for the first 16 points in the I/O assignment setting of GX Developer, device No.Xn0 is X0 (n = 0).

Signal direction: QD70D Programmable controller CPU

Signal direction: Programmable controller CPU QD70D

Device No. Signal name Device No. Signal name Xn0 Module READY Yn0 Programmable controller READY Xn1 Axis error occurrence Yn1 Xn2 Axis warning occurrence Yn2 Xn3 Yn3 Xn4 Yn4 Xn5 Yn5 Xn6 Yn6 Xn7

Use prohibited

Yn7

Use prohibited

Xn8 Axis 1 Yn8 Axis 1 Xn9 Axis 2 Yn9 Axis 2 XnA Axis 3 YnA Axis 3 XnB Axis 4 YnB Axis 4 XnC Axis 5 YnC Axis 5 XnD Axis 6 YnD Axis 6 XnE Axis 7 YnE Axis 7 XnF Axis 8

BUSY

YnF Axis 8

Positioning start

X(n+1)0 Axis 1 Y(n+1)0 Axis 1 X(n+1)1 Axis 2 Y(n+1)1 Axis 2 X(n+1)2 Axis 3 Y(n+1)2 Axis 3 X(n+1)3 Axis 4 Y(n+1)3 Axis 4 X(n+1)4 Axis 5 Y(n+1)4 Axis 5 X(n+1)5 Axis 6 Y(n+1)5 Axis 6 X(n+1)6 Axis 7 Y(n+1)6 Axis 7 X(n+1)7 Axis 8

Start complete

Y(n+1)7 Axis 8

Axis stop

X(n+1)8 Axis 1 Y(n+1)8 Axis 1 X(n+1)9 Axis 2 Y(n+1)9 Axis 2 X(n+1)A Axis 3 Y(n+1)A Axis 3 X(n+1)B Axis 4 Y(n+1)B Axis 4 X(n+1)C Axis 5 Y(n+1)C Axis 5 X(n+1)D Axis 6 Y(n+1)D Axis 6 X(n+1)E Axis 7 Y(n+1)E Axis 7 X(n+1)F Axis 8

Positioning complete

Y(n+1)F Axis 8

JOG start

Important

[Yn1 to Yn7], and [Xn3 to Xn7] are used by the system, and cannot be used by the user. If these devices are used, the operation of the QD70D will not be guaranteed.

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3.3.2 Details of input signal (QD70D Programmable controller CPU)

The ON/OFF timing and conditions of the input signals are shown below. Device

No. Signal name Description

Xn0 Module READY ON: Prepared OFF: Not

prepared watch dog timer error

• When the Programmable controller READY signal [Yn0] turns from OFF to ON, the parameter and the OPR data setting range is checked. If no error is found, this signal turns ON. (When the axis error occurrence signal [Xn1] is ON, this signal does not turn ON if the Programmable controller READY signal [Yn0] is turned from OFF to ON.)

• When the Programmable controller READY signal [Yn0] turns OFF, this signal turns OFF.

• When a watch dog timer (WDT) error occurs, this signal turns OFF. • This signal is used for interlock in a sequence program, etc.

OFFON

OFFON

Programmable controllerREADY signal [Yn0]

Module READY signal [Xn0] Xn1 Axis error

occurrence OFF: No error ON: Error

occurrence

• This signal turns ON if an error occurs in any of axes 1 to 8, and turns OFF when "Cd. 1 Axis error reset" is set for all axes. (Use " Md. 10 Error status" to confirm the error status of the corresponding axis.)

Xn2 Axis warning occurrence

OFF: No warning ON: Warning

occurrence

• This signal turns ON if a warning occurs in any of axes 1 to 8, and turns OFF when "Cd. 1 Axis error reset" is set for all axes. (Use "Md. 11 Warning status" to confirm the warning status of the corresponding axis.)

Xn8 Xn9 XnA XnB XnC XnD XnE XnF

Axis 1 Axis 2 Axis 3 Axis 4 Axis 5 Axis 6 Axis 7 Axis 8

BUSY *1 OFF: Not BUSY ON: BUSY

• This signal turns ON at the start of positioning control, OPR control or JOG operation. It turns OFF when the " Da. 7 Dwell time" has passed after positioning control stops. (This signal remains ON during positioning control.)

• This signal turns OFF at error or stop.

X(n+1)0 X(n+1)1 X(n+1)2 X(n+1)3 X(n+1)4 X(n+1)5 X(n+1)6 X(n+1)7


Start complete

OFF: Start incomplete

ON: Start complete

• This signal turns ON when the positioning start signal turns ON and the QD70D starts the positioning control process. (The start complete signal also turns ON during OPR control.)

OFFON

OFFON

Positioning start signal [Yn8]

Start complete signal [X(n+1)0] X(n+1)8 X(n+1)9 X(n+1)A X(n+1)B X(n+1)C X(n+1)D X(n+1)E X(n+1)F


Positioning complete*2

OFF: Positioning incomplete

ON: Positioning complete

• This signal turns ON for the time set in "Pr. 7 Positioning complete signal output time" from completion of position control of the corresponding axis. (It does not turn ON if 0 is set in "Pr. 7 Positioning complete signal output time".)

• While ON, this signal turns OFF if a positioning control start (including OPR control) or JOG operation start is made.

• This signal does not turn ON at the termination of JOG operation. • This signal does not turn ON if position control is stopped midway.

Important

*1: The BUSY signal turns ON even when position control of movement amount 0 is executed. However, since the ON time is short, the ON status may not be detected in the sequence program.

*2: "Position control complete" of the QD70D refers to the point when the pulse output from QD70D is completed. Thus, even if the QD70D's positioning complete signal turns ON, the system may continue operation.

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3.3.3 Details of output signals (Programmable controller CPU QD70D)

The ON/OFF timing and conditions of the output signals are shown below. Device No. Signal name Description

Yn0 Programmable controller READY

OFF: Programmable controller READY OFF

ON: Programmable controller READY ON

(a) This signal notifies the QD70D that the programmable controller CPU is normal.

• It is turned ON/OFF with the sequence program. • The Programmable controller READY signal is turned ON

during positioning control, OPR control and JOG operation. (b) When parameters and OPR data are changed, the

Programmable controller READY signal is turned OFF. (c) The following processes are carried out when the Programmable

controller READY signal turns from OFF to ON. • The parameter and OPR data setting range is checked. • The module READY signal [Xn0] turns ON.

(d) The following processes are carried out when the Programmable controller READY signal turns from ON to OFF. In these cases, the OFF time should be set to 100ms or more. • The module READY signal [Xn0] turns OFF. • The operating axis stops.

Yn8 Yn9 YnA YnB YnC YnD YnE YnF


Positioning start OFF: Positioning start not requested

ON: Positioning start requested

• OPR control and positioning control is started. • The positioning start signal is valid at the rising edge, and the

operation is started. • When the positioning start signal turns ON during BUSY, the

operation starting warning will occur (warning code: 10). • Do not turn ON/OFF the signals by the direct access output (DY).

(Refer to Section 9.3.)

Y(n+1)0 Y(n+1)1 Y(n+1)2 Y(n+1)3 Y(n+1)4 Y(n+1)5 Y(n+1)6 Y(n+1)7


Axis stop OFF: Axis stop not requested

ON: Axis stop requested

• When the axis stop signal turns ON, the OPR control, positioning control and JOG operation. In these cases, the ON time should be set to 4ms or more.

• Turning ON the axis stop signal during operation decelerates the axis to a stop. At this time, "Md. 4 Axis operation status" changes from "Deceleration (Axis Stop ON)" to "Stopped".

Y(n+1)8 Y(n+1)9 Y(n+1)A Y(n+1)B Y(n+1)C Y(n+1)D Y(n+1)E Y(n+1)F


JOG start OFF: JOG not started

ON: JOG started

• When the JOG start signal is ON, JOG operation will be carried out at the "JOG. 1 JOG speed". When the JOG start signal turns OFF, the operation will decelerate and stop. At this time, "Md. 4 Axis operation status" changes from "Deceleration (JOG Start OFF)" to "Standby".

• Set the rotation direction in "JOG. 4 JOG direction flag". (Refer to Chapter 10.)

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3.4 Specifications of input/output interfaces with external device

3.4.1 Electrical specifications of input/output signals

Input specifications

Signal name Rated input

voltage/current Working voltage

range ON voltage/

current OFF voltage/

current Input resistance Response time

5VDC/13mA 4.75 to 5.5VDC 3.5VDC or more/

6mA or more 1.0VDC or less/0.5mA or less

Approx. 390Ω 0.1ms or less

Zero signal (PG0)

3μs or less1ms or more

3μs or lessON

OFF

Near-point dog signal (DOG) Speed-position switching signal (CHG)/Retry switch signal(RTRY)

24VDC/5mA 19.2 to 26.4VDC17.5VDC or

more/3mA or more

7VDC or less/0.9mA or less

Approx. 6.8kΩ 1ms or less

Output specifications

Signal name Rated load voltage

Working load voltage range

Max. load current/rush

current

Max. voltage drop at ON

Leakage current at OFF Response time

• Defferential receiver equivalent to Am26LS32(Compliant with RS-422 standard) • Set the pulse output mode and pulse output logic selection in "intelligent function module switch setting"

(Refer to Section 5.6). • The following are the relationships between pulse outputs depending on the "pulse output mode" and "pulse

output logic selection". Pulse output logic selection Positive logic Negative logic

Pulse output mode

Forward run Reverse run Forward run Reverse run

CW CCW

PULSE SIGN

High Low

Low High

A phase B phase

Pulse output (CW/PULSE/A phase) Pulse sign (CCW/SIGN/B phase)

Deviation counter clear (CLEAR) 5 to 24VDC 4.75 to 30VDC 0.1A/1 point/0.4A

10ms or less 1VDC (TYP)

2.5VDC (MAX) 0.1mA or less 2ms or less (resistance load)

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3.4.2 Signal layout for external device connection connector

The specifications of the connector section, which is the input/output interface for the QD70D and external device, are shown below. The signal layout for the QD70D external device connection connector is shown.

AX2AX1AX3

AX4

QD70D4

QD70D4RUN

ERR. AX4AX3AX2AX1

QD70D4

AX6AX8 AX2AX5AX7 AX1AX3

AX4

QD70D8

QD70D8RUN

ERR. AX8AX7AX6AX5

AX4AX3AX2AX1

QD70D8

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AX1 AX2 AX3 AX4 Pin layout

Pin No. Signal name Pin No. Signal name Pin No. Signal name Pin No. Signal name

A20 PULSE R1 COM

B20 PULSE R2 COM

A20 PULSE R3 COM

B20 PULSE R4 COM

A19 PULSE F1 COM

B19 PULSE F2 COM

A19 PULSE F3 COM

B19 PULSE F4 COM

A18 PULSE R1- B18 PULSE R2- A18 PULSE R3- B18 PULSE R4- A17 PULSE R1+ B17 PULSE R2+ A17 PULSE R3+ B17 PULSE R4+ A16 PULSE F1- B16 PULSE F2- A16 PULSE F3- B16 PULSE F4- A15 PULSE F1+ B15 PULSE F2+ A15 PULSE F3+ B15 PULSE F4+ A14 CLEAR 1 COM B14 CLEAR 2 COM A14 CLEAR 3 COM B14 CLEAR 4 COMA13 CLEAR1 B13 CLEAR2 A13 CLEAR3 B13 CLEAR4 A12 NC B12 NC A12 NC B12 NC A11 NC B11 NC A11 NC B11 NC A10 PG01 COM B10 PG02 COM A10 PG03 COM B10 PG04 COM A9 PG01 B9 PG02 A9 PG03 B9 PG04 A8 NC B8 NC A8 NC B8 NC A7 COM1 to 4 B7 COM1 to 4 A7 COM1 to 4 B7 COM1 to 4 A6 COM1 to 4 B6 COM1 to 4 A6 COM1 to 4 B6 COM1 to 4 A5 CHG1/RTRY1 B5 CHG2/RTRY2 A5 CHG3/RTRY3 B5 CHG4/RTRY4 A4 NC B4 NC A4 NC B4 NC A3 DOG1 B3 DOG2 A3 DOG3 B3 DOG4 A2 CHG1/RTRY1 B2 CHG2/RTRY2 A2 CHG3/RTRY3 B2 CHG4/RTRY4 A1 NC B1 NC A1 NC B1 NC

AX5 AX6 AX7 AX8 Pin No. Signal name Pin No. Signal name Pin No. Signal name Pin No. Signal name

A20 PULSE R5 COM

B20 PULSE R6 COM

A20 PULSE R7 COM

B20 PULSE R8 COM

A19 PULSE F5 COM

B19 PULSE F6 COM

A19 PULSE F7 COM

B19 PULSE F8 COM

A18 PULSE R5- B18 PULSE R6- A18 PULSE R7- B18 PULSE R8- A17 PULSE R5+ B17 PULSE R6+ A17 PULSE R7+ B17 PULSE R8+ A16 PULSE F5- B16 PULSE F6- A16 PULSE F7- B16 PULSE F8- A15 PULSE F5+ B15 PULSE F6+ A15 PULSE F7+ B15 PULSE F8+ A14 CLEAR 5 COM B14 CLEAR 6 COM A14 CLEAR 7 COM B14 CLEAR 8 COMA13 CLEAR5 B13 CLEAR6 A13 CLEAR7 B13 CLEAR8 A12 NC B12 NC A12 NC B12 NC A11 NC B11 NC A11 NC B11 NC A10 PG05 COM B10 PG06 COM A10 PG07 COM B10 PG08 COM A9 PG05 B9 PG06 A9 PG07 B9 PG08 A8 NC B8 NC A8 NC B8 NC A7 COM5 to 8 B7 COM5 to 8 A7 COM5 to 8 B7 COM5 to 8 A6 COM5 to 8 B6 COM5 to 8 A6 COM5 to 8 B6 COM5 to 8 A5 CHG5/RTRY5 B5 CHG6/RTRY6 A5 CHG7/RTRY7 B5 CHG8/RTRY8 A4 NC B4 NC A4 NC B4 NC A3 DOG5 B3 DOG6 A3 DOG7 B3 DOG8 A2 CHG5/RTRY5 B2 CHG6/RTRY6 A2 CHG7/RTRY7 B2 CHG8/RTRY8

B20B19B18B17B16B15B14B13B12B11B10B9B8B7B6B5B4B3B2B1

A20A19A18A17A16A15A14A13A12A11A10A9A8A7A6A5A4A3A2A1

Front view of the module

A1 NC B1 NC A1 NC B1 NC

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3.4.3 List of input/output signal details

The details of each QD70D external device connection connector are shown below:

Signal name Pin No. Symbol Signal details

(Negative logic is selected by external I/O signal logic selection)

Near-point dog signal A03 B03 DOG • This signal is used for detecting the near-point dog during machine OPR

control. • The near-point dog signal is detected at turning from OFF to ON.

Speed-position switching signal/ Retry switch signal

A05 A02

B05 B02

CHG/RTRY

• In speed-position switching control: The signal is input to switch from speed control to position control.

• In machine OPR: This signal is used for retry switch detection in the OPR retry function.

Common A06 A07

B06 A07

COM • Common for near-point dog signal and speed-position switching control

signal.

Zero signal A09 B09 PGO

• Input the zero signal for machine OPR control. Use the pulse encoder's zero signal and so on.

• Also use this signal when the OPR method is the stopper method and the OPR complete is input from an external source.

• The zero signal is detected at turning from OFF to ON. Zero signal common A10 B10 PGO COM • Common for zero signal.

Pulse output F+ A15 B15 PULSE F+

Pulse output F- A16 B16 PULSE F-

• This signal is used to output command pulses to the open collector compatible drive unit. CW/CCW mode: CW PULSE/SIGN mode: PULSE A phase/B phase mode: A phase

Pulse output F common A19 B19 PULSE F

COM • Common for pulse output F

Pulse output R+ A17 B17 PULSE R+

Pulse output R- A18 B18 PULSE R-

• This signal is used to output command pulses to the open collector compatible drive unit. CW/CCW mode: CCW PULSE/SIGN mode: SIGN A phase/B phase mode: B phase

Pulse output R common A20 B20 PULSE R

COM • Common for pulse output F

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Signal name Pin No. Symbol Signal details

(Negative logic is selected by external I/O signal logic selection)

Deviation counter clear A13 B13 CLEAR

• This signal is output during machine OPR control. (Example) When carry out machine OPR control with stopper 2.

CLEAR

OPR. 4

OPR. 5

Pr. 8

Pr. 6 Bias speed at start

Speed

OPR speed

Creep speed

Stopper

Near-point dog

Deviation counterclear signal output time

Time

After feed pulse output stops

Zero signal OFF

OFF

ON

ON

• The output time of the deviation counter clear signal is set in "Pr. 8 Deviation

counter clear signal output time". • Use the drive unit that can reset the droop pulse amount in the internal

deviation counter when the QD70D turns this signal ON. (Note) The deviation counter clear is a signal output by the QD70D during

machine OPR control. It cannot be output randomly.

Deviation counter clear common A14 B14 CLEAR COM

• Common for deviation counter clear

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3.4.4 Input/output interface internal circuit

Shows summary image of the internal circuit of the interface for connection to external devices of the QD70D.

Input/output class

External wiring Pin No. Internal circuit Signal name

A3 Near-point dog signal DOG

A5

A2

Speed-position switching signal/Retry switch signal *3

CHG/RTRY

A6 A7

Common *2 COM

A9 Zero signal PG0

Input 24VDC*1

A10 Zero signal common PG0 COM

A15 Pulse output F + PULSE F+

A16 Pulse output F - PULSE F-

A19 Pulse output F common PULSE F COM

A17 Pulse output R + PULSE R+

A18 Pulse output R - PULSE R-

A20 Pulse output R common PULSE R COM

A13 Deviation counter clear CLEAR

Output

A14

1/3W6.8k

1/16W580

1/3W6.8k

1/16W580

1/3W6.8k

1/16W580

1/3W390

1/16W1.8k

Deviation counter clear common

CLEAR COM

*1: Connection to the 24V DC input common (COM) is available from either the positive or negative side. *2: The input common (COM) has internal connections for axes 1 to 4 and 5 to 8. *3: To the Speed-position switching signal/Retry switch signal (CHG/RTRY), both switches for CHG and RTRY can be

connected. Pay special attention to prevent the both switches from turning on at the same time.

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(1) Input signal ON/OFF status

(a) Input signal ON/OFF status The input signal ON/OFF status is defied by the external wiring and logic setting. This is explained below with the example of near-point dog signal (DOG). (The other input signals also perform the same operations as the near-point dog signal (DOG).)

Logic setting* External wiring ON/OFF status of near-point dog signal

(DOG) as seen from QD70D

DOG

COM24VDC

(Voltage not applied)

OFF

Negative logic (Initial value)

DOG

COM24VDC

(Voltage applied)

ON

DOG

COM24VDC

(Voltage not applied)

ON

Positive logic (Voltage not applied)

DOG

COM24VDC

(Voltage applied)

OFF

*: Set the logic setting using "Switch setting for intelligent function module". For details of the settings, refer to Section 5.6.

(b) Logic setting and internal circuit

In the QD70D, the case where the internal circuit (photocoupler) is OFF in the negative logic setting is defined as "input signal OFF". Reversely, the case where the internal circuit (photocoupler) is OFF in the positive logic setting is defined as "input signal ON".

<Photocoupler ON/OFF status>

When voltage is not applied : Photocoupler OFF When voltage is applied : Photocoupler ON

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(2) Output signal ON/OFF status In the QD70D, the logic setting for the output signal ON/OFF status is defined as described below. Before connecting the QD70D to a servo amplifier, confirm the input specifications of the servo amplifier and perform the logical setting on the QD70D. (a) When a photocoupler is used for input on the servo amplifier side

QD70D Servo Amplifier When the QD70D uses negative-true logic, the OFF status of the photocoupler is defined as "Output signal OFF". When it uses positive-true logic, the ON status of the photocoupler is defined as "Output signal OFF".

(b) When a differential receiver is used for input on the servo amplifier side

QD70D Servo Amplifier When the QD70D uses negative-true logic, the "L" state of the differential receiver is defined as "Output signal OFF". When it uses positive-true logic, the "H" state of the differential receiver is defined as "Output signal OFF".

Example) When output signals are set to negative-true logic and CW/CCW: Pulse train is output so that, when the output signal turns off, the photocoupler turns off or the differential receiver is in "L" state.

QD70D's output signal

Pulse train output fromQD70D's outoput terminal*

PULSE F +PULSE F -

PULSE R +PULSE R -

CW

CWW

OFFON

OFFON

Forward fotation Reverse rotation

QD70D's output signal

Pulse train output fromQD70D's outoput terminal*

*: PULSE F+/- and PULSE R+/- are waveforms based on PULSE F COM

and PULSE R COM respectively.

4 - 1 4 - 1

MELSEC-Q4 DATA USED FOR POSITIONING CONTROL

CHAPTER 4 DATA USED FOR POSITIONING CONTROL

This chapter explains the specifications of the data to be set to the QD70D.

4.1 Type of data

4.1.1 Parameters and data required for control

The parameters and data required to carry out control with the QD70D include the "setting data", "monitor data" and "control data" shown below.

Setting data

( Pr. 1 to Pr. 12 )

Parameters

OPR data

( OPR. 1 to OPR. 10 )

JOG data

( JOG. 1 to JOG. 4 )

( Da. 1 to Da. 7 )

Positioning data

(Switches 1 to 5)

Set at a system startup according to the machinery, equipment and applications.(Storage destination: QD70D buffer memory)

Set values required to exercise "OPR control".(Storage destination: QD70D buffer memory)

Set values required to perform "JOG operation".(Storage destination: QD70D buffer memory)

Set values required to exercise "positioning control".(Storage destination: QD70D buffer memory)

Set the pulse output mode and external I/O signal logic.(Storage destination: "I/O assignment setting" PLC parameter of QCPU)

Intelligent function module switches

The parameters and OPR data are made valid when the Programmable controller READY signal [Yn0] turns from OFF to ON.

The JOG data or positioning data are made valid when a JOG operation start or positioning control start is made.

Use GX Developer to set the intelligent function module switches. (For details, refer to "Section 5.6 Switch setting for intelligent function module".)

4

4 - 2 4 - 2


Monitor data

( Md. 1 to Md. 9 )

( Md. 10 to Md. 11 )

Axis monitor data

Module information monitor data

Data related to the operations of the running axes, e.g. the current positions and speeds, are monitored.(Storage destination: QD70D buffer memory)

The error status and warning status of the QD70 are monitored.(Storage destination: QD70D buffer memory)

( Cd. 1 to Cd. 11 )

Control data

Axis control dataMake operation-related settings and exercise such control as speed changingduring operation and operation restart.(Storage destination: QD70D buffer memory)

How to set "setting data"

Setting meansSetting item

Sequence program GX Configurator-PT GX Developer

Parameters (initial setting *) OPR data (initial setting *) JOG data Positioning data (initial setting *) Intelligent function module switches

* : Initial setting is made to the intelligent function module parameters of the QCPU. : Can be set. : Can be set in the "I/O assignment setting" PLC parameter of the QCPU. : Cannot be set.

POINT

(1) The "setting data" is created for each axis. (2) The "setting data" parameters have determined default values, and are set to

the default values before shipment from the factory. (Parameters related to axes that are not used are left at the default value.)

(3) The "setting data" set in the QD70D buffer memory are not backed up. All data are initialized at the time of system power-on or programmable controller CPU reset.

4

4 - 3 4 - 3


4.1.2 Setting items for parameters

The table below lists items set to the positioning parameters. Setting of parameters is similarly done for individual axes for all controls achieved by the QD70D. For details of controls, refer to SECTION 2 "CONTROL DETAILS AND SETTING". For details of setting items, refer to "4.2 List of parameters".

Positioning control Control

Parameter

OPR control Position

control Speed-position

switching controlCurrent value

changing

JOG operation

Related sub function

Pr. 1 Software stroke limit upper limit value –

Pr. 2 Software stroke limit lower limit value –

Pr. 3 Software stroke limit valid/invalid setting –

Section 11.4

Pr. 4 Current feed value during speed control – – – – –

Pr. 5 Speed limit value – Section 11.2

Pr. 6 Bias speed at start – Section 11.5

Pr. 7 Positioning complete signal output time – – –

Pr. 8 Deviation counter clear signal output time – – – – –

Pr. 9 PULSE/SIGN method selection setup/hold time – –

Pr. 10 Deceleration stop method – * – – –

Pr. 11 Acceleration/deceleration system selection – Section 11.6

Pr. 12 Pulse output method (stop signal enabled) – – – –

: Always set : Set as required (Read "–" when not required.)

– : Setting not required. (This is an irrelevant item, so the set value will be ignored. If the value is the default value or within the setting range, there is no problem.)

* : Under the speed-position switching control, this is valid only for position control.

Checking the parameters Pr. 1 to Pr. 12 are checked for the setting ranges when the " Programmable controller READY signal (Yn0)" output from the programmable controller CPU to the QD70D changes from OFF to ON. At this time, an error occurs in the parameter whose value has been set outside the setting range. (For details, refer to "CHAPTER 13 TROUBLESHOOTING".)

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4.1.3 Setting items for OPR data

When carrying out "OPR control", the "OPR data" must be set. The setting items for the "OPR data" are shown below. The "OPR data" are set commonly for each axis. Refer to "Chapter 8 OPR CONTROL" for details on the "OPR CONTROL", and to section "4.3 List of OPR data" for details on each setting item.

OPR control OPR data

Machine OPR control Fast OPR control

OPR. 1 OPR method

Nea

r-poi

nt

dog

met

hod

Stop

per 1

Stop

per 2

Stop

per 3

Cou

nt 1

Cou

nt 2

OPR. 2 OPR direction

OPR. 3 OP address

OPR. 4 OPR speed

OPR. 5 Creep speed

OPR. 6 ACC/DEC time at OPR

OPR. 7 DEC/STOP time at OPR

OPR. 8 Setting for the movement amount after near-point dog ON – – – –

OPR. 9 OPR dwell time * – – * *

OPR. 10 OPR retry – – –

Data set for machine OPR control are used.

: Always set : Set as required (Read "–" when not required.)

– : Setting not required (This is an irrelevant item, so the setting value will be ignored. If the value is the default value or within the setting range, there is no problem.)

* : Set when using the " OPR retry function". ("–" when not set.)

Checking the OPR data OPR. 1 to OPR. 10 are checked for the setting ranges when the " Programmable controller READY signal (Yn0)" output from the programmable controller CPU to the QD70D changes from OFF to ON. At this time, an error occurs in the OPR data whose value has been set outside the setting range. (For details, refer to "CHAPTER 13 TROUBLESHOOTING".)

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4.1.4 Setting items for JOG data

The "JOG data" must be set to perform "JOG operation". The following are the setting items of the "JOG data". The "JOG data" are set commonly for each axis. Refer to "CHAPTER 10 JOG OPERATION" for details of "JOG operation" and to "Section 4.4 List of JOG data" for details of the setting items.

JOG data JOG operation JOG. 1 JOG speed JOG. 2 JOG ACC time JOG. 3 JOG DEC time JOG. 4 JOG direction flag : Always set

– : Setting not required (This is an irrelevant item, so the setting value will be ignored. If the value is the default value or within the setting range, there is no problem.)

Checking the JOG data JOG. 1 to JOG. 4 are checked for the setting ranges when JOG operation is started. At this time, an error occurs in the JOG data whose value has been set outside the setting range. (For details, refer to "CHAPTER 13 TROUBLESHOOTING".)

4 - 6 4 - 6


4.1.5 Setting items for positioning data

Positioning data must be set for carrying out any "positioning control". The table below lists the items to be set for producing the positioning data. 1 to 10 positioning data items can be set for each axis. For details of the positioning controls, refer to "Chapter 9 POSITIONING CONTROL". For details of the individual setting items, refer to "4.5 List of positioning data".

Positioning control Positioning data

Position control Speed-position switching control

Current value changing

Positioning termination Continuous positioning control Da. 1

Operation pattern


Da. 2 Control method 1-axis linear control (ABS) 1-axis linear control (INC)

Speed.Position Ctrl. (Forward) Speed.Position Ctrl. (Reverse)


Da. 3 ACC/DEC time –

Da. 4 DEC/STOP time –

Da. 5 Command speed –

Da. 6 Positioning address/movement amount Change destination

address

Da. 7 Dwell time

: Always set : Set as required (Read "–" when not required.) : Setting not possible

– : Setting not required. (This is an irrelevant item, so the set value will be ignored. If the value is the default value or within the setting range, there is no problem.)

Checking the positioning data Da. 1 to Da. 7 are checked for the setting ranges when positioning control is started. At this time, an error occurs in the positioning data whose value has been set outside the setting range. (For details, refer to "CHAPTER 13 TROUBLESHOOTING".)

4 - 7 4 - 7


4.1.6 Type and roles of monitor data

The monitor data area in the buffer memory stores data relating to the control state of the positioning control system, which are monitored as required while the positioning system is operating. The following data are available for monitoring.

• Axis operation monitoring:

Monitoring of the current position and speed, and other data related to the movements of axes (through the axis monitor data Md. 1 to Md. 9)

• Module information monitoring:

Monitoring of the QD70D error status and warning status (through the module information monitor data Md. 10 to Md. 11 )

Refer to "Section 4.6 List of monitor data" for details of the monitor data.

Monitor data Monitor details Md. 1 Current feed value Monitor the current "current feed value"

Md. 2 Movement amount after near-point dog ON

Monitor the movement amount after the near-point dog has turned ON

Md. 3 Current speed Monitor the current speed Md. 4 Axis operation status Monitor the axis operation state Md. 5 Axis error code Monitor the latest error code that occurred with the axis Md. 6 Axis warning code Monitor the latest warning code that occurred with the axis Md. 7 Status Monitor the flag Md. 8 External I/O signal Monitor the external input/output signal Md. 9 Executing positioning data No. Monitor the "positioning data No." currently being executed Md. 10 Error status Monitor the error status of each axis Md. 11 Warning status Monitor the warning status of each axis

4 - 8 4 - 8


4.1.7 Type and roles of control data

Operation of the positioning control system is achieved through the execution of necessary controls. (Data required for controls are given through the default values when the power is switched ON, which can be modified as required by the sequence program.) Controls are performed over system data or machine operation.

• Controlling the operation :

Setting operation parameters, changing speed during operation, restarting operation (through the axis control data Cd. 1 to Cd. 11 )

Refer to "Section 4.7 List of control data" for details of the control data.

Control data Control details Cd. 1 Axis error reset Clear (reset) the axis error code (Md. 5) and warning code (Md. 6). Cd. 2 OPR request flag OFF request Change OPR request flag from "ON to OFF". Cd. 3 Start method Set which control will be executed (start method). Cd. 4 Restart request Give a restart command during an axis operation stop. Cd. 5 Speed-position switching request Validate speed-position switching signal from external source.

Cd. 6 Speed change request Issue instruction to change speed in operation to Cd. 7 value. (Made valid during speed control of speed-position switching control or during JOG operation)

Cd. 7 New speed value Set new speed when changing speed during operation.

Cd. 8 ACC/DEC time at speed change Set the time taken at a speed change to reach the new speed from the old speed.

Cd. 9 DEC/STOP time at speed change Set the time taken at axis stop factor occurrence (axis stop signal ON or error occurrence) to make a stop after reaching "Pr. 6 Bias speed at start" from the speed after a speed change.

Cd. 10 Target position change request Issue a command by which the positioning address or movement amount is changed during position control.

Cd. 11 Target position change value Set a value to change the positioning address or movement amount during position control.

4 - 9 4 - 9


4.2 List of parameters

Setting value buffer memory address Item Setting value, setting range Default value

Axis 1 Axis 2 Axis 3 Axis 4 Axis 5 Axis 6 Axis 7 Axis 8Pr. 1 Software stroke limit upper

limit value 2147483647 0

1 100 101

200 201

300 301

400 401

500 501

600 601

700 701

Pr. 2 Software stroke limit lower limit value

-2147483648 to 2147483647 (pulse)

-2147483648 2 3

102 103

202 203

302 303

402 403

502 503

602 603

702 703

0: Valid Pr. 3 Software stroke limit valid/invalid setting 1: Invalid

0 4 104 204 304 404 504 604 704

0: No update 1: Update

Pr. 4 Current feed value during speed control

2: Clear to 0 and no update0 5 105 205 305 405 505 605 705

Pr. 5 Speed limit value 1 to 4000000 (pulse/s) 10000 6 7

106 107

206 207

306 307

406 407

506 507

606 607

706 707

Pr. 6 Bias speed at start 0 to 4000000 (pulse/s) 0 8 9

108 109

208 209

308 309

408 409

508 509

608 609

708 709

Pr. 7 Positioning complete signal output time

0 to 65535 (ms) 300 10 110 210 310 410 510 610 710

Pr. 8 Deviation counter clear signal output time

1 to 32 (ms) 10 11 111 211 311 411 511 611 711

0: 10μs 1: 100μs 2: 1ms

Pr. 9 PULSE/SIGN method selection setup/hold time

3: 2ms

0 12 112 212 312 412 512 612 712

0: Position match stop Pr. 10 Deceleration stop method

1: Deceleration stop 0 13 113 213 313 413 513 613 713

0: Trapezoidal acceleration /deceleration Pr. 11 Acceleration/deceleration

system selection 1: S-curve acceleration/ deceleration

0 17 117 217 317 417 517 617 717

0: Fixed Pulse Output Pr. 12 Pulse output method (stop signal enabled) 1: Fixed Deceleration Time

0 18 118 218 318 418 518 618 718

4 - 10 4 - 10


Pr. 1 Software stroke limit upper limit value

Set the upper limit for the machine's movement range.

Pr. 2 Software stroke limit lower limit value Set the lower limit for the machine's movement range.

(Machine movement range)

Software strokelimit lower limit

OP

Emergency stop limit switch

Software strokelimit upper limit

Emergency stop limit switch

Fig. 4.1 Software stroke limit setting example

1) Generally, the OP is set at the lower limit or upper limit of the stroke

limit. 2) By setting the upper limit value or lower limit value of the software

stroke limit, overrun can be prevented in the software. However, an emergency stop limit switch must be installed nearby outside the range.

Pr. 3 Software stroke limit valid/invalid setting

Set whether to validate the software stroke limit. 0: Valid 1: Invalid


Specify whether you wish to enable or disable the update of "Md. 1 Current feed value" while operations are performed under the speed control (including the speed-position and position-speed switching control). 0: No update

The current feed value will not change. (The value at the beginning of the speed control will be kept.)

1: Update The current feed value will be updated. (The current feed value will change from the initial.)

2: Clear to 0 and no update The current feed will be set initially to zero and not updated. (The value be kept "0".)

Pr. 5 Speed limit value

Set the maximum speed for OPR control, positioning control and JOG operation. The speed limit value is determined by the following two conditions. • Motor speed • Workpiece movement speed

4 - 11 4 - 11



Set the minimum starting speed for OPR control, positioning control and JOG operation. When using a stepping motor or like, set this speed to start the motor smoothly. (A stepping motor does not start smoothly if the motor speed is low at a start.) Set a value not more than " Pr. 5 Speed limit value". If it is more than " Pr. 5 Speed limit value", the "Setting range outside bias speed" error (error code: 906) will occur.

Pr. 7 Positioning complete signal output time

Set the output time of the positioning complete signal [X(n+1)8 to X(n+1)F] output from the QD70D. Positioning complete indicates that the preset dwell time has elapsed after the QD70D ended pulse output. If the setting value is 0 (ms) or if the axis stop signal was used to make a stop during JOG operation or speed control of speed-position switching control, the positioning complete signal is not output.

M

[Yn8 to YnF]

[X(n+1)8 to X(n+1)F]

Programmablecontroller

CPU

Programmable controller

Positioningstart signal

Positioningcomplete signal Positioning control

Positioning start signal

Start complete signal

BUSY signal

Positioning complete signal

Positioning complete signal(after elapse of dwell time)

Output time

QD70D

Fig. 4.2 Positioning complete signal output time

Pr. 8 Deviation counter clear signal output time

Set the duration of the deviation counter clear signal output during a machine OPR control operation using any of the following methods: the near-point dog method, stopper 1 to 3, and count 1. (For details, refer to your drive unit manual.)

4 - 12 4 - 12



Set the setup/hold time when PULSE/SIGN is selected in the pulse output mode to output inverted pulses. 0: 10μs 1: 100μs 2: 1ms 3: 2ms The following is an example for negative logic.

PULSE

SIGNPr. 9 Pr. 9Set in Set in

Movement in + direction

Movement in - direction

Forwardrun

Reverserun

Fig. 4.3 PULSE/SIGN mode (set the pulse output mode with the intelligent function module switch. Refer to Section 5.6.)

4 - 13 4 - 13


Pr. 10 Deceleration stop method

Set how to stop the operation when an axis stop signal [Yn10 to Yn17] is input during position control including the one in the speed-position switching control. 0: Position match stop ....... Deceleration starts when the axis stop signal is input,

and the axis stops immediately when the address preset to the positioning data in execution is reached.

1: Deceleration stop........... When the axis stop signal is input, the axis stops after decelerating to " Pr. 6 Bias speed at start". (The axis does not stop at the address preset to the positioning data in execution.)

Da. 5 Command speed


Da. 5 Command speed

Da. 6 Positioning address / movement amount

Continuous path control performed when axis stop signal is not input

Da. 6 Positioning address / movement amount

Da. 5 Command speed

Da. 6


Da. 4stop time

DecelerationPr. 6 Bias speed at start

0: Position match stopAxis stop signal input

Continuous path control performedwhen axis stop signal is not input

In a pattern where the positioning address is reached during deceleration, an immediate stop is madewhen the positioning address is reached. However, if the positioning address is not reached during deceleration, a position match stop cannot be made. (Refer to the following chart.)

Axis stop signal input

1: Deceleration stopAxis stop signal input

Continuous path control performed when axis stop signal is not input

Deceleration stop

If the axis passes through the positioning address, it does not stop and decelerates to a stop.

Da. 4 Decelerationstop time

Da. 4stop time

Deceleration

Positioning address / movement amount

Immediate stop after the address set toDa. 6" Positioning address/movement

amount" is reached

Deceleration stop before the address set to " Da. 6Positioning address/movement amount" is reached

No stop if the address set to " PositioningDa. 6address/movement amount" is reached

Fig.4.4 Deceleration stop by axis stop signal input

4 - 14 4 - 14


Precautions In the following cases, the operational behavior after the axis stop signal input is different from those shown in Fig. 4.4.

(1) Deceleration stop when the axis stop signal is input during

acceleration/deceleration Deceleration stop is an operation in which " Da. 5 Command speed" is reduced to " Pr. 6 Bias speed at start" within the time set for " Da. 4 Deceleration stop time". When the axis stop signal is input during acceleration/deceleration, the above-mentioned operation is also performed. In this case, since the speed at the point to start the deceleration stop is not " Da. 5 Command speed", the time to complete the deceleration stop is not "Deceleration stop time".

Example) When an axis stop signal is input during deceleration in continuous

path control, the deceleration stop is as shown below. When an axis stop signal is input during deceleration from command speed (a) of positioning data No.1 to command speed (b) of positioning data No.2, the actual time required for the deceleration stop is longer than " Da. 4 Deceleration stop time" because the speed at the point starting deceleration stop is faster than (b).

Positioning data No.1:Continuous path control

Positioning data No.2:Positioning termination


Operation performed when axis stop signal is not input

Same slope

a: Command speed of the positioning data No.1

b: Command speed of the positioning data No.2

Actual deceleration stop time

Deceleration stop time

Da.4Acc / Dec timeDa.3

v

t

Bias Pr. 6speed at start

b

a

If "0: Position match stop" is set for " Pr. 10 Deceleration stop method", the motion is stopped immediately when" Da. 6 Positioning address/movement amount" is reached.


Operation performed when axis stop signal is not input

a: Command speed of the positioning data No.1

b: Command speed of the positioning data No.2

Deceleration stop time

Da.4

Positioning data No.2:Positioning termination

Positioning data No.1:Continuous path control

Acc / Dec timeDa.3

Bias Pr. 6speed at start

v

t

b

a

Same slope

Fig.4.5 Deceleration stop when an axis stop signal is input during deceleration in continuous path control

4 - 15 4 - 15


(2) Deceleration stop when an axis stop signal is input during S-curve

acceleration/deceleration When an axis stop signal is input during S-curve acceleration/deceleration, calculation is performed for S-curve deceleration from the speed at the time to " Pr. 6 Bias speed at start". While the calculation is carried out (Max. 60μs), the axis is operated at the fixed speed. Therefore, it may actually stop at some position far away from the target position. (Refer to Fig. 4.6.) Depending on the setting, the stop position may be out of the movable range defined for the system and a software stroke limit +/- error may occur. To prevent a software stroke limit +/- error, select "0: Position match stop" for Deceleration stop method.

1: Deceleration stop v

tMax. calculation time 60 s

Timing at which the QD70D accepts the axis stop signal input Operation without the axis stop signal input

Stop operation by the axis stop signal input

0: Position match stop

v

tMax. calculation time 60 s

Timing at which the QD70D accepts the axis stop signal input Operation without the axis stop signal input

Stop operation by the axis stop signal input

Fig. 4.6 Deceleration stop when an axis stop signal is input during S-curve acceleration/deceleration

4 - 16 4 - 16


Pr. 11 Acceleration / Deceleration System Selection

Specify Trapezoidal or S-curve acceleration/deceleration. For details, refer to "Section 11.6 Acceleration/deceleration processing function". 0: Trapezoidal acceleration/deceleration

L

V The acceleration and deceleration are liner.

1: S-curve acceleration/deceleration

V

L

The acceleration and deceleration follow aSin curve.

Note) When "1: Continuous positioning control" or "2: Continuous path control" is

selected for " Da. 1 Operation pattern", S-curve acceleration/deceleration is not available. Attempting to start it with either of these settings will cause an "S-curve acc./dec. setting operation pattern error" (Error code: 515).

4 - 17 4 - 17


Pr. 12 Pulse Output Method (Stop Signal Enabled)

For the case where an axis is stopped due to a stop factor, select whether to continue or stop outputting the current pulse at the time the specified deceleration stop time is elapsed. 0: Fixed pulse output (Output all of the pulse being output at the time the

deceleration stop time is elapsed) 1: Fixed deceleration time (Stop the pulse output at the time the deceleration stop

time is elapsed) 0: Fixed Pulse Output

Stop cause occurrence *1(Start of deceleration stop)

Bias speed at start

Set decelerationstop time *2

Pulse that is being output when set deceleration stop time has elapsed will be output. *4

v

t

1 pulse

Pulse output

BUSY signal *6ON

OFF

Time for max. 1 pulse output (250ms to 1s) (Depending on Bias speed at start)

1: Fixed Deceleration Time

Set decelerationstop time *2

Pulse output

Bias speed at start

Stop cause occurrence *1(Start of deceleration stop)v

t

ON

OFF

1 pulse

BUSY signal *6

Stops current pulse output when specified deceleration stop time is elapsed.

Fig. 4.7 Pulse output at deceleration stop

4 - 18 4 - 18


*1: "Stop cause" indicates any of the following.

• Error occurred in the programmable controller CPU or QD70D. • JOG start signal (Y(n+1)8 to Y(n+1)F) has turned OFF during JOG operation. • Axis stop signal (Y(n+1)0 to Y(n+1)7) has turned ON. • Stop due to target position change • Speed change to speed 0 (pulse/s) (when bias speed at start is 0 (pulse/s)) • Temporary stop due to OPR retry • Machine OPR control of count 2

*2: "Set deceleration stop time" is any of the following. • During positioning control : Da. 4 DEC/STOP time • At speed change to speed 0 (pulse/s) : Cd. 9 DEC/STOP time at speed change • During machine OPR control of count 2 : OPR. 7 DEC/STOP time at OPR • During JOG operation : JOG. 3 JOG DEC time

*3: When the axis is decelerated to a stop by a speed change to speed 0 (pulse/s), the BUSY signal does not turn OFF.

*4: The same operation is performed when an immediate stop cause occurs during machine OPR control (except the case of count 2).

Precautions When "1: Fixed pulse output" has been set, take careful attention to the following:

(1) A short-width pulse aborted during output may be recognized as one complete pulse, and thereby incorrect positioning may occur.

(2) If the pulse output mode is set to A phase/B phase (multiple of 1), incorrect positioning may occur depending on the drive unit because the pulses of phases A and B turns off at the same time.

(3) A temporary deceleration stop is performed during execution of the target position change or OPR retry. In such a case, all of the pulse is output regardless of the setting.

4 - 19 4 - 19


4.3 List of OPR data

Setting value buffer memory address Item

Setting value, setting range

Default value Axis 1 Axis 2 Axis 3 Axis 4 Axis 5 Axis 6 Axis 7 Axis 8

0: Near-point dog method

1: Stopper 1 2: Stopper 2 3: Stopper 3 4: Count 1

OPR. 1 OPR method

5: Count 2

0 20 120 220 320 420 520 620 720

0: Forward direction OPR. 2 OPR direction 1: Reverse direction

0 21 121 221 321 421 521 621 721

OPR. 3 OP address -2147483648 to 2147483647 (pulse)*1

0 22 23

122 123

222 223

322 323

422 423

522 523

622 623

722 723

OPR. 4 OPR speed 1 to 4000000 (pulse/s) 1 24 25

124 125

224 225

324 325

424 425

524 525

624 625

724 725

OPR. 5 Creep speed 1 to 4000000 (pulse/s) 1 26 27

126 127

226 227

326 327

426 427

526 527

626 627

726 727

OPR. 6 ACC/DEC time at OPR 0 to 32767 (ms) 1000 28 128 228 328 428 528 628 728 OPR. 7 DEC/STOP time at OPR 0 to 32767 (ms) 1000 29 129 229 329 429 529 629 729 OPR. 8 Setting for the movement

amount after near-point dog ON

0 to 2147483647 (pulse)

0 30 31

130 131

230 231

330 331

430 431

530 531

630 631

730 731

OPR. 9 OPR dwell time 0 to 65535 (ms)*2 0 32 132 232 332 432 532 632 732 0: Valid

OPR. 10 OPR retry 1: Invalid

0 33 133 233 333 433 533 633 733

*1: When "0: Valid" is set for "Pr.3 Software stroke limit valid/invalid setting", the setting range is 0 to 2147483647 (pulse). *2: When making setting in a sequence program, set 0 to 32767 in decimal as-is, and 32768 to 65535 in hexadecimal.

4 - 20 4 - 20


OPR. 1 OPR method

Set the "OPR method" for carrying out machine OPR control. 0 : Near-point dog method....After decelerating at the near-point dog ON, stop at

the zero signal and complete the machine OPR control.

1 : Stopper 1..........................After decelerating at the near-point dog ON, stop with the stopper, and complete the machine OPR control after the OPR dwell time has passed.

2 : Stopper 2..........................After decelerating at the near-point dog ON, stop with the stopper, and complete the machine OPR control with the zero signal.

3 : Stopper 3..........................After starting with the creep speed, stop with the stopper, and complete the machine OPR control with the zero signal.

4 : Count 1.............................After decelerating at the near-point dog ON, move the designated distance, and complete the machine OPR control with the zero signal.

5 : Count 2.............................After decelerating at the near-point dog ON, move the designated distance, and complete the machine OPR control.

Note) Refer to "8.2.2 Machine OPR method" for details on the OPR methods.

4 - 21 4 - 21


OPR method

0 : Near-point dog method

(1) Start machine OPR control. (Start movement at the " OPR. 4 OPR speed" in the " OPR. 2 OPR direction".)

(2) Detect the near-point dog ON, and start deceleration. (3) Decelerate to " OPR. 5 Creep speed", and move with the

creep speed. (At this time, the near-point dog must be ON.)

(4) When the first zero signal (one pulse of which is output when the motor turns one revolution) after near-point dog OFF is detected, the pulse output from the QD70D stops and machine OPR control is completed.

t

V

ON

(1)

(2)

(3)(4)

OPR. 4 OPR speed


OPR. 5 Creep speed

Near-point dog OFF

Zero signalFirst zero afternear-point dog OFF

1 : Stopper 1



creep speed. (At this time, a torque limit is needed for the motor. If there is no torque limit, the motor may fail at (4).)

(4) The axis contacts against the stopper at " OPR. 5 Creep speed", and then stops.

(5) When the near-point dog turns ON and the " OPR. 9 OPR dwell time" is passed, the pulse output from the QD70D stops, and machine OPR control is completed.

t

V

(1)

(2)

(3) (4) (5)

ON

OPR. 4 OPR speed


OPR. 5 Creep speed

Range where motor rotation is forcibly stopped by stopper

Near-point dog OFFDwell time outDwell time

counting

2 : Stopper 2



creep speed. (At this time, a torque limit is needed for the motor. If there is no torque limit, the motor may fail at (4).)


(5) When the zero signal (signal output on detection of contact with the stopper) is detected after a stop, the pulse output from the QD70D stops and machine OPR control is completed.

t

V

ON

(1)

(2)

(3) (4)

(5)

OPR. 4 OPR speed


OPR. 5 Creep speed

Stopped by stopper

Zero signal

Near-point dog OFF

4 - 22 4 - 22


3 : Stopper 3

(1) Start machine OPR control. (Start movement at the " OPR. 5 Creep speed" in the " OPR. 2 OPR direction". (At this time, a torque limit is needed for the motor. If there is no torque limit, the motor may fail at (2).)


(3) When the zero signal (signal output on detection of contact with the stopper) is detected after a stop, the pulse output from the QD70D stops and machine OPR control is completed.

t

V

(1)

(2)

(3)

OPR. 5 Creep speed


Stopped by stopper

Zero signal

4 : Count 1



creep speed. (4) When the first zero signal (one pulse of which is output

when the motor turns one revolution) is detected after the movement amount set in " OPR. 8 Setting for the movement amount after near-point dog ON" has been travelled after near-point dog ON, the pulse output from the QD70D stops and machine OPR control is completed.

t

V

ON

(4)(3)

(2)

(1)

OPR. 4 OPR speed

Pr. 6 Bias speedat start

OPR. 8 Setting for the movementamount after near-point dog ON

OPR. 5 Creep speed


Near-point dog OFF

Zero signal

Near-point dog should be turned OFF with enough distance provided from OP position.

First zero after movement amounthas been traveled after near-pointdog OFF

5 : Count 2



creep speed. (4) After the near-point dog turns ON and the movement

amount set in " OPR. 8 Setting for the movement amount after near-point dog ON" has passed, the pulse output from the QD70D stops with the first zero signal, and machine OPR control is completed.

t

V

ON

(1)

(2)

(3)

(4)

OPR. 4 OPR speed


OPR. 8 Setting for the movementamount after near-point dog ON

OPR. 5 Creep speed


Near-point dog OFF

4 - 23 4 - 23


OPR. 2 OPR direction

Set the direction to start movement when starting machine OPR control. 0: Forward direction

Moves in the direction that the address increments. (Arrow 2)) 1: Reverse direction

Moves in the direction that the address decrements. (Arrow 1)) Normally, the OP is set near the lower limit or the upper limit, so "OPR. 2 OPR direction" is set as shown below.

Lower limit

Address incrementdirection

Address decremwnt direction

Upper limit

When the zero point is set at the lower limit side, the OPR directiion is in the direction of arrow 1).Set "1" for OPR. 2

OP 1)

2) OP

Address decremwnt direction

Address incrementdirection

Upper limitLower limit

When the OP is set at the upperlimit side, the OPR diredtionis in direction of arrow 2).Set "0" for OPR. 2

OPR. 3 OP address Set the address used as the reference point for position control (ABS system). (When the machine OPR control is completed, the stop position address is changed to the address set in "OPR. 3 OP address". At the same time, the "OPR. 3 OP address" is stored in "Md. 1 Current feed value".) Note) * The setting range for the OP address varies depending on the setting in "Pr.3 Software stroke limit valid/invalid setting". "0: Valid" : 0 to 2147483647 (pulse) "1: Invalid" : -2147483648 to 2147483647 (pulse) * When the set value is outside the above range, an "OP address setting out of

range" error (Error code: 912) will occur.

4 - 24 4 - 24


OPR. 4 OPR speed

Set the speed for OPR control. Note) • Set the "OPR speed" to less than " Pr. 5 Speed limit value". If the "speed

If the "speed limit value" is exceeded, the "Setting range outside OPR speed" error (error code: 913) will occur.

• Set the "OPR speed" to a value not less than " Pr. 6 Bias speed at start". If it is less than the "bias speed at start", the "Setting range outside OPR speed" error (error code: 913) will occur.

OPR. 5 Creep speed

Set the creep speed after near-point dog ON (the low speed just before stopping after decelerating from the OPR speed). The creep speed is set within the following range. (OPR. 4 OPR speed ) ≥ (OPR. 5 Creep speed) ≥ ( Pr. 6 Bias speed at start)

Note) • The creep speed is related to the detection error when using the OPR

method with zero signal, and the size of the collision if a collision occurs during OPR using the stopper.

• Set the "creep speed" to a value not more than "OPR. 4 OPR speed". If the "OPR speed" is exceeded, "the "Setting range outside creep speed" error (error code: 914) will occur.

• Set the "creep speed" to a value not less than " Pr. 6 Bias speed at start". If it is less than the "bias speed at start", the "Setting range outside creep speed" error (error code: 914) will occur.

ON

V

OPR. 4

OPR. 5Pr. 6

Machine OPR control start

Near-point dog signal OFF

Zero signal

Bias speed at start

OPR speed

Creep speed

4 - 25 4 - 25


OPR. 6 ACC/DEC time at OPR

Set the time taken under machine OPR control to reach "OPR. 4 OPR speed" from "Pr. 6 Bias speed at start" or to reach "OPR. 5 Creep speed" from "OPR. 4 OPR speed".

Pr. 6

OPR. 6 OPR. 6

OPR. 4

OPR. 5

t

V

t

V

OPR. 6

Pr. 6 OPR. 5

(When OPR method is other than "Stopper 3") (When OPR method is "Stopper 3")

OPR. 7 DEC/STOP time at OPR Set the time taken to make a stop after reaching " Pr. 6 Bias speed at start" from "OPR. 5 Creep speed" under "Count 2" machine OPR control or to make a stop after reaching " Pr. 6 Bias speed at start" from the speed during machine OPR control at axis stop factor occurrence (axis stop signal ON or error occurrence).

Pr. 6

OPR. 7

OPR. 4

OPR. 5

t

V

t

V

OPR. 4 OPR. 5

Pr. 6

OPR. 7

(When OPR method is "Count 2") (When axis stop signal is turned ON during machine OPR control (Common to all OPR methods))

Axis stop factor occurrence

OPR. 8 Setting for the movement amount after near-point dog ON When the OPR method is Count 1 or 2, set a value not less than the deceleration distance after the near-point dog signal has turned ON.

= 12

2000

Vz t + t'1000

200010 10 (320 + 80)3

200080ms : t'

OFF ON

Setting example of " OPR. 8 Setting for the movement amount after near-point dog ON"When 10kpulse/s is set in " OPR. 4 OPR speed", 2kpulse/s in " OPR. 5 Creep speed", and 320ms in " OPR. 6 ACC/DEC time at OPR", calculate " OPR. 8 Setting for the movement amount after near-point dog ON" as indicated below.

[Machine OPR control operation]OPR. 4 OPR speed : Vz=10kpulse/s

Near-point dog

OPR. 5 Creep speed: Vc=2kpulse/s

OPR. 6 ACC/DEC time at OPR : t=320ms

[Deceleration distance]

Set 2000 pulse or more in " OPR. 8 Setting for the movement amount after near-point dog ON".

=Vz (t + t')

=

=

4 - 26 4 - 26


OPR. 9 OPR dwell time

Set the OPR dwell time in the following two cases: (a) When performing machine zero return by stopper 1

Set the time from when the near-point dog turns ON until machine OPR control is completed. Set not less than the movement time from when the near-point dog turns ON until a stop is made by the stopper.

(b) When using the OPR retry function Set the stop time after deceleration stop by OPR retry. (For details, refer to "Section 8.4 OPR retry function".)

OPR. 10 OPR retry

Set whether to enable or disable the OPR retry function. 0: Disable Disables the OPR retry function 1: Enable Enables the OPR retry function Note) The OPR retry function is valid only for the near-point dog method, and

count 1 and 2. For details, refer to "Section 8.4 OPR retry function".

4 - 27 4 - 27


4.4 List of JOG data

Setting value buffer memory address Item

Setting value, setting range


JOG. 1 JOG speed 1 to 4000000 (pulse/s) 0 40 41

140 141

240 241

340 341

440 441

540 541

640 641

740 741

JOG. 2 JOG ACC time 0 to 32767 (ms) 1000 42 142 242 342 442 542 642 742 JOG. 3 JOG DEC time 0 to 32767 (ms) 1000 43 143 243 343 443 543 643 743

0: Forward run JOG JOG. 4 JOG direction flag 1: Reverse run JOG

0 44 144 244 344 444 544 644 744

JOG. 1 JOG speed

Set the speed for JOG operation. (This value is used for both forward run JOG and reverse run JOG.) Set the JOG speed in the following range. ( Pr. 5 Speed limit value) ≥ ( JOG. 1 JOG speed) ≥ ( Pr. 6 Bias speed at start) If the "JOG speed" is more than the "speed limit value", it is limited to " Pr. 5 Speed limit value". If the "JOG speed" is less than " Pr. 6 Bias speed at start", it is limited to "Pr. 6 Bias speed at start".

JOG. 2 JOG ACC time

Set the time taken to reach "JOG. 1 JOG speed" from " Pr. 6 Bias speed at start" at a JOG operation start (JOG start signal ON). (This value is used for both forward run JOG and reverse run JOG.)

JOG. 3 JOG DEC time

Set the time taken to make a stop after reaching " Pr. 6 Bias speed at start" from "JOG. 1 JOG speed" at a JOG operation stop (JOG start signal OFF, error occurrence). (This value is used for both forward run JOG and reverse run JOG.)

JOG. 4 JOG direction flag

Set the forward/reverse direction for JOG operation. 0: Forward run JOG 1: Reverse run JOG

4 - 28 4 - 28


4.5 List of positioning data

Before explaining the positioning data setting items Da. 1 to Da. 7 , the configuration of the positioning data will be shown below. The positioning data stored in the QD70D buffer memory has the following type of configuration.

Ž²‚P

890

891

892

894895

898

893

896897

899

10

Ž²‚P

880

881

882

884885

888

883

886887

889

9

Ž²‚P

820

821

822

824825

828

823

826827

829

3

Ž²‚P

810

811

812

814815

818

813

816817

819

2

Ž²‚P

Da. 1 Operation pattern

Da. 2 Control method

800

801

802

804805

808

803

806807

809

Positioning data No. 1

Axi

s 1

Ž²‚P

1199

10

Ž²‚P

1189

9

Ž²‚P

1129

3

Ž²‚P

1119

2

Ž²‚P

1109

1190

1191

1192

11941195

1198

1193

11961197

1180

1181

1182

11841185

1188

1183

11861187

1120

1121

1122

11241125

1128

1123

11261127

1110

1111

1112

11141115

1118

1113

11161117

1100

1101

1102

11041105

1108

1103

11061107

Ž²‚P

999

10

Ž²‚P

989

9

Ž²‚P

929

3

Ž²‚P

919

2

Ž²‚P

909

990

991

992

994995

998

993

996997

980

981

982

984985

988

983

986987

920

921

922

924925

928

923

926927

910

911

912

914915

918

913

916917

900

901

902

904905

908

903

906907

Ž²‚P

1099

10

Ž²‚P

1089

9

Ž²‚P

1029

3

Ž²‚P

1019

2

Ž²‚P

1009

1090

1091

1092

10941095

1098

1093

10961097

1080

1081

1082

10841085

1088

1083

10861087

1020

1021

1022

10241025

1028

1023

10261027

1010

1011

1012

10141015

1018

1013

10161017

1000

1001

1002

10041005

1008

1003

10061007

Da. 3 ACC/DEC time

Da. 4 DEC/STOP time

Da. 5 Command speed

Da. 7 Dwell time

Reserved (Cannot BeUsed)

Da. 6 Positioningaddress/movementamount

Buffer memory address

Axi

s 2



Da. 3 ACC/DEC time

Da. 4 DEC/STOP time

Da. 5 Command speed

Da. 7 Dwell time








Axi

s 3

Da. 3 ACC/DEC time

Da. 4 DEC/STOP time

Da. 5 Command speed

Da. 7 Dwell time







Axi

s 4

Da. 3 ACC/DEC time

Da. 4 DEC/STOP time

Da. 5 Command speed

Da. 7 Dwell time



Buffer memory address : Write to Reserved (Cannot be used) is prohibited.

4 - 29 4 - 29


Ž²‚P

1399

10Ž²‚P

1389

9

Ž²‚P

1329

3

Ž²‚P

1319

2

1309

1390

1391

1392

13941395

1398

1393

13961397

1380

1381

1382

13841385

1388

1383

13861387

1320

1321

1322

13241325

1328

1323

13261327

1310

1311

1312

13141315

1318

1313

13161317

1300

1301

1302

13041305

1308

1303

13061307

Ž²‚P

1599

10

Ž²‚P

1589

9

Ž²‚P

1529

3

Ž²‚P

1519

2

Ž²‚P

1509

1590

1591

1592

15941595

1598

1593

15961597

1580

1581

1582

15841585

1588

1583

15861587

1520

1521

1522

15241525

1528

1523

15261527

1510

1511

1512

15141515

1518

1513

15161517

1500

1501

1502

15041505

1508

1503

15061507

Ž²‚P

1299

10

Ž²‚P

1289

9

Ž²‚P

1229

3

Ž²‚P

1219

2

Ž²‚P

1209

1290

1291

1292

12941295

1298

1293

12961297

1280

1281

1282

12841285

1288

1283

12861287

1220

1221

1222

12241225

1228

1223

12261227

1210

1211

1212

12141215

1218

1213

12161217

1200

1201

1202

12041205

1208

1203

12061207

Ž²‚P

1499

10

Ž²‚P

1489

9

Ž²‚P

1429

3Ž²‚P

1419

2Ž²‚P

1409

1490

1491

1492

14941495

1498

1493

14961497

1480

1481

1482

14841485

1488

1483

14861487

1420

1421

1422

14241425

1428

1423

14261427

1410

1411

1412

14141415

1418

1413

14161417

1400

1401

1402

14041405

1408

1403

14061407




Axi

s 1

Da. 3 ACC/DEC time

Da. 4 DEC/STOP time

Da. 5 Command speed

Da. 7 Dwell time







Axis

2

Da. 3 ACC/DEC time

Da. 4 DEC/STOP time

Da. 5 Command speed

Da. 7 Dwell time







Axi

s 3

Da. 3 ACC/DEC time

Da. 4 DEC/STOP time

Da. 5 Command speed

Da. 7 Dwell time







Axi

s 4

Da. 3 ACC/DEC time

Da. 4 DEC/STOP time

Da. 5 Command speed

Da. 7 Dwell time



Buffer memory address : Write to Reserved (Cannot be used) is prohibited.

The descriptions that follow relate to the positioning data set items Da. 1 to Da. 7 . (The buffer memory addresses shown are those of the "positioning data No. 1" for the axes 1 to 8.)

4 - 30 4 - 30


Setting value buffer memory address

Item Setting value, setting range


0: Positioning termination

1: Continuous positioning control


2: Continuous path control

0 800 900 1000 1100 1200 1300 1400 1500

0: No control method 1: 1-axis linear control

(ABS) 2: 1-axis linear control

(INC) 3: Speed.Position Ctrl.

(Forward) 4: Speed.Position Ctrl.

(Reverse)


5: Current value changing

0 801 901 1001 1101 1201 1301 1401 1501

Da. 3 ACC/DEC time 0 to 32767 (ms) 1000 802 902 1002 1102 1202 1302 1402 1502Da. 4 DEC/STOP time 0 to 32767 (ms) 1000 803 903 1003 1103 1203 1303 1403 1503

Da. 5 Command speed 0 to 4000000 (pulse/s) 0 804 805

904 905

10041005

1104 1105

1204 1205

1304 1305

14041405

15041505

Da. 6 Positioning address/ movement amount

-2147483648 to 2147483647 (pulse) *1

0 806 807

906 907

10061007

1106 1107

1206 1207

1306 1307

14061407

15061507

Da. 7 Dwell time 0 to 65535 (ms) *2 0 808 908 1008 1108 1208 1308 1408 1508*1: 0 to 2147483647 (pulse) when " Da. 2 Control method" is "3: Speed.Position Ctrl. (Forward)" or "4: Speed.Position Ctrl. (Reverse)". *2: When making setting in a sequence program, set 0 to 32767 in decimal as-is, and 32768 to 65535 in hexadecimal.

Da. 1 Operation pattern The operation pattern designates whether positioning control of a certain data No. is to be ended with just that data, or whether the positioning control for the next data No. is to be carried out in succession. [Operation pattern]

Countinue

0 : Positioning termination

1 : Continuous positioning control

2 : Continuous path control

Continuous posotioning controlwith one start signal

Continupus path positioningcontrol with speed change

End

1) Positioning termination .................. Set to execute positioning control to the

designated address, and then complete positioning control.

2) Continuous positioning control ...... Positioning control is carried out successively in order of data Nos. with one start signal. The operation halts at each position indicated by a positioning data.

3) Continuous path control ................ Positioning control is carried out successively in order of data Nos. with one start signal. The operation does not stop at each positioning data.

Note) Refer to "CHAPTER 9 POSITIONING CONTROL" for details of the operation pattern.

4 - 31 4 - 31



Set the "control method" for positioning control. 0: No control method 1: 1-axis linear control (ABS) 2: 1-axis linear control (INC) 3: Speed.Position Ctrl. (Forward) ...... Speed-position switching control (forward

run) 4: Speed.Position Ctrl. (Reverse)...... Speed-position switching control (reverse

run) 5: Current value changing Note) • Refer to "CHAPTER 9 POSITIONING CONTROL" for details of the

control method. • Setting "0: No control method" will result in the "Setting range outside

control method" error (error code: 506).

Da. 3 ACC/DEC time, Da. 4 DEC/STOP time Set the acceleration/deceleration time for positioning control.

[" Da. 1 Operation pattern" is "0: Positioning termination" or "1: Continuous

positioning control"] Da. 3 ACC/DEC time : Set the time taken to reach " Da. 5 Command speed"

from "Pr. 6 Bias speed at start". Da. 4 DEC/STOP time : Set the time taken to make a stop after reaching

" Pr. 6 Bias speed at start" from "Da. 5 Command speed" at position control completion or axis stop factor occurrence (axis stop signal ON or error occurrence).

V

tDa. 3

Da. 7 Dwell time


Da. 4

Da. 5

Da. 7 Dwell time

Positioning data No. 1(Continuous positioning control)

Positioning data No. 2(Positioning termination)

Da. 3 Da. 4

Da. 5

4 - 32 4 - 32


[" Da. 1 Operation pattern" is "2: Continuous path control"]

Da. 3 ACC/DEC time : Set the time taken to reach " Da. 5 Command speed" set in the "positioning data to be executed next" from " Da. 5 Command speed" set in the "positioning data currently being executed".

Da. 4 DEC/STOP time : Set any value within the setting range (0 to 32767ms). (This does not function.)

V

t

Da. 3

Da. 3 Da. 7 Dwell timeDa. 4

Da. 5


Da. 5

Da. 5

Da. 5

Da. 3

Da. 3

Positioning dataNo. 1

Continuous path control Positioning termination




Da. 5 Command speed Set the speed for positioning control. If the set command speed exceeds " Pr. 5 Speed limit value", positioning control will be carried out at the speed limit value. If the set command speed is less than " Pr. 6 Bias speed at start", positioning control will be carried out at the bias speed at start.

Da. 6 Positioning address/movement amount

Set the address or movement amount as the target value of positioning control. The setting value differs in the setting range depending on " Da. 2 Control method". ((1) to (3))

(1) 1-axis linear control (ABS), current value changing

Set the value (positioning address) for 1-axis linear control (ABS) or current value changing using the absolute address (address from the OP).

-1000 30001000

Stopping position (positioning control starting address)

Movement amount : 2000

Movement amount : 2000

4 - 33 4 - 33


(2) 1-axis linear control (INC)

Set a signed movement amount as the setting value (movement amount) for 1-axis linear control (INC). When the movement amount is positive: The axis moves in the positive direction (address increasing direction). When the movement amount is negative: The axis moves in the negative direction (address decreasing direction).

-30000 30000

Stopping position(positioning control starting position)

(Movement amount) (Movement amount)

Movement in negative direction

Movement in positive direction

(3) Speed.Position Ctrl. (Forward/Reverse)

Set the movement amount (value more than 0) after speed control has been switched to position control. Speed

Speedcontrol

Position control

Movement amount setting

Time

Speed-position switching command

Da. 7 Dwell time When the "dwell time" is set, the setting details of the "dwell time" will be as follows according to " Da. 1 Operation pattern".

Set the time from when the positioning control ends to when the "positioning complete signal" turns ON as "dwell time".

Positioning complete signal OFFON

Dwell timeDa. 7

V

t

2) When " Da. 1 Operation pattern" is "1 : Continuous positioning control"

Set the time from when position control ends to when the next position control start as the "dwell time".

Dwell timeDa. 7

V

t

Position control

Next positioncontrol

3) When " Da. 1 Operation pattern" is "2 : Continuous path control

The setting value irrelevant to the control.(The "dwell time" is 0ms.)

No dwell time (0ms)

V

t

1) When " Da. 1 Operation pattern" in "0 : Positioning termination"

Position control

Position controlNext positioncontrol

4 - 34 4 - 34


4.6 List of monitor data

4.6.1 Axis monitor data

Storage buffer memory address Item Storage details


Md. 1 Current feed value

• The current position using the position when OPR is completed as the base is stored. Update timing: 1ms for QD70D4

2ms for QD70D8 • On completion of machine OPR control, the OP

address is stored. • Under speed control of speed-position switching

control, whether the current feed value is updated or not or cleared to zero can be selected by parameter setting.

• The software stroke limit can be activated by parameter setting.

• If the current value has been changed by the current value change function, the new value is stored. [Range: -2147483648 to 2147483647 pulse]

0 70 71

170 171

270 271

370 371

470 471

570 571

670 671

770 771


• At a machine OPR control start, "0" is stored. • After a machine OPR control start, the movement

amount from near-point dog ON up to machine OPR control completion is stored. (Movement amount: Indicates the movement amount up to completion of machine OPR control when near-point dog ON is defined as "0".

• For near-point dog-free stopper type method, the value is always "0". [Range: 0 to 2147483647 pulse]

0 72 73

172 173

272 273

372 373

472 473

572 573

672 673

772 773

Md. 3 Current speed

• The current speed is stored. (The fraction is ignored. "0" may be displayed if the speed is less than 1 pulse/s.) Update timing: 1ms for QD70D4

2ms for QD70D8 [Range: 0 to 4000000 pulse]

0 74 75

174 175

274 275

374 375

474 475

574 575

674 675

774 775

Md. 4 Axis operation status

The operating status of the axis is stored. -1 : Error 0 : Standby 2 : Stopped 3 : JOG Operation 4 : OPR 5 : Position • Control

(during speed control of speed-position switching control)

6 : Speed • Position Speed (during position control of speed-position switching control)

7 : Deceleration (Axis Stop ON) 8 : Deceleration (JOG Start OFF) 9 : Fast OPR

0 76 176 276 376 476 576 676 776

Md. 5 Axis error code

At axis error occurrence, the error code corresponding to the error definition is stored. • If another error occurs during axis error

occurrence, the latest error code is ignored. However, if a system-affecting error (error code: 800 to 840) has occurred, the old error code is overwritten by the newest error code, which is stored.

• The error codes 800 to 840 are stored into Md. 5 for all axes.

• When "Cd. 1 Axis error reset" (axis control data) of the corresponding axis is turned ON, the axis error code is cleared (to zero). (Refer to "Section 13.2" for details of the error codes.)

0 77 177 277 377 477 577 677 777

4 - 35 4 - 35


Storage buffer memory address

Item Storage details Default value Axis 1 Axis 2 Axis 3 Axis 4 Axis 5 Axis 6 Axis 7 Axis 8

Md. 6 Axis warning code

At axis warning occurrence, the warning code corresponding to the warning definition is stored. • The latest warning code is always stored. (When

a new axis warning occurs, the old warning code is overwritten.)

• When "Cd. 1 Axis error reset" (axis control data) of the corresponding axis is turned ON, the axis warning code is cleared (to zero). (Refer to "Section 13.3" for details of the warning codes.)

0 78 178 278 378 478 578 678 778

Md. 7 Status

The ON/OFF states of the following flags are stored. The following items are stored. • OPR request flag

(Refer to "Chapter 8" for details) This flag turns ON at power-on or at machine OPR control start, and turns OFF on completion of machine OPR control.

• OPR complete flag (Refer to "Chapter 8" for details)

This flag turns ON on normal completion of machine OPR control, and turns OFF at an OPR control, positioning control or JOG operation start.

• 0 speed (Refer to "Section 11.3" for details) This flag turns on when JOG operation or speed control of speed-position switching control is started with the speed set to "0". When a speed change is made, this flag turns ON when a speed change request of new speed value 0 is given, and turns OFF when a speed change request of other than new speed value 0 is given.

b15 b0b4b8b12

0 : OFF1 : ON

Not used Storage item Meaning

OPR request flag

OPR complete flag

0 speed

0001H 79 179 279 379 479 579 679 779

Md. 8 External I/O signal

The ON/OFF states of the external I/O signals are stored. The following items are stored. • Zero signal • Near-point dog signal • Speed-position switching signal/Retry switch

signal • Deviation counter clear signal b15 b0b4b8b12

0 : OFF1 : ON

Storage item MeaningNot used Zero signal

Near-point dogsignalSpeed-positionswitching signal

Deviation counterclear signal

/ Retry switch signal

0000H 80 180 280 380 480 580 680 780

Md. 9 Executing positioning data No.

• The positioning data No. currently being executed is stored. (The stored value is held until the next start is executed.)

• When JOG operation or machine OPR control is started, 0 is stored.

• When fast OPR control is started, 1 is stored.

0 81 181 281 381 481 581 681 781

4 - 36 4 - 36


4.6.2 Module information monitor data

Item Storage details Default value Storage buffer memory address (Common for axis 1 to axis 8)

Md. 10 Error status

At error occurrence, the bit corresponding to the error occurrence axis turns ON.

0: Normal (OFF) 1: Error (ON)

(The error occurrence axis cannot be run) When "Cd. 1 Axis error reset" (axis control data) of the corresponding axis is turned ON, the error status of the corresponding axis is cleared (to zero). (Refer to "Chapter 13" for details.) b15 b0b4b8b12

0 : OFF1 : ON

Not usedStorage item Meaning

Axis 1 error

Axis 2 error

Axis 3 error

Axis 4 error

Axis 5 error

Axis 6 error

Axis 7 error

Axis 8 error (For the QD70D4, b4 to b7 are "0" fixed.)

0000H 1600

Md. 11 Warning status

At warning occurrence, the bit corresponding to the warning occurrence axis turns ON.

0: Normal (OFF) 1: Warning (ON)

When "Cd. 1 Axis error reset" (axis control data) of the corresponding axis is turned ON, the warning status of the corresponding axis is cleared (to zero). (Refer to "Chapter 13" for details.) b15 b0b4b8b12

0 : OFF1 : ON


Axis 1 warning

Axis 2 warning

Axis 3 warning

Axis 4 warning

Axis 5 warning

Axis 6 warning

Axis 7 warning

Axis 8 warning (For the QD70D4, b4 to b7 are "0" fixed.)

0000H 1601

4 - 37 4 - 37


4.7 List of control data

4.7.1 Axis control data

Setting buffer memory address Item Setting details


Cd. 1 Axis error reset

By setting "1", the following operation is performed. • Axis error occurrence (Xn1), "Md. 5 Axis error

code", axis warning occurrence (Xn2) or "Md. 6 Axis warning code" is cleared. (Xn1 and Xn2 are cleared when "1" is set in Cd. 1 of all axes.)

• If "Md. 4 Axis operation status" is "Error", the error is cleared and returned to the "Standby" status. (The data automatically changes to "0" after completion of axis error reset or axis warning reset.)

0 50 150 250 350 450 550 650 750

Cd. 2 OPR request flag OFF request

When the OPR request flag (b0 of Md. 7) is ON, setting "1" forcibly turns this data OFF. (The data automatically changes to "0" after the OPR request flag turns OFF.)

0 51 151 251 351 451 551 651 751

Cd. 3 Start method

Set this data when starting the corresponding control.

Set the start data No. for positioning control. (Starts from No.1 when 0 is set) 9000 : Machine OPR control 9001 : Fast OPR control

0 52 152 252 352 452 552 652 752

Cd. 4 Restart request

• If positioning control is stopped midway by the axis stop signal (Y(n+1)0 to Y(n+1)7) (when "Md. 4 Axis operation status" is "Stopped"), setting "1" restarts positioning control to the end point of the positioning data from where it had stopped.

• For speed control of speed-position switching control, speed control is exercised at the speed used before the stop. (After completion of restart request acceptance, the data changes to "0" automatically.)

0 53 153 253 353 453 553 653 753

Cd. 5 Speed-position switching request

Set whether the speed-position switching signal is made valid or not.

0: Invalidates the speed-position switching signal. (Disable)

1: Validates the speed-position switching signal.(Enable)

0 54 154 254 354 454 554 654 754

4 - 38 4 - 38


Setting buffer memory address

Item Setting details Default value Axis 1 Axis 2 Axis 3 Axis 4 Axis 5 Axis 6 Axis 7 Axis 8

Cd. 6 Speed change request

Set "1" to request speed change processing after "Cd. 7 Speed change value" setting (Enable the value) during position control with the operation pattern set to "Positioning termination", during speed control in the speed-position switching control, or during JOG operation.

0 55 155 255 355 455 555 655 755

Cd. 7 New speed value

Set a new speed during position control with the operation pattern set to "Positioning termination", during speed control in the speed-position switching control, or during JOG operation. • Set the value not more than " Pr. 5 Speed limit

value". • Set the value not less than "Pr. 6 Bias speed at

start". [Setting range: 0 to 4000000 pulse/s]

0 56 57

156 157

256 257

356 357

456 457

556 557

656 657

756 757

Cd. 8 ACC/DEC time at speed change

Set the time taken at a speed change to reach the new speed from the old speed.

[Setting range: 0 to 32767ms] 1000 58 158 258 358 458 558 658 758

Cd. 9 DEC/STOP time at speed change

Set the time taken at axis stop factor occurrence (axis stop signal ON or error occurrence) to make a stop after reaching " Pr. 6 Bias speed at start" from the speed after a speed change.

[Setting range: 0 to 32767ms]

1000 59 159 259 359 459 559 659 759

Cd. 10 Target position change request

Set "1" to change the positioning address/movement amount to the value set for "Cd. 11 Target position change value" during position control when the operation pattern is set to "Positioning termination". (Upon acceptance of the target position change

request, it automatically returns to 0.)

0 61 161 261 361 461 561 661 761

Cd. 11 Target position change value

Set a new positioning address/movement amount value during position control when the operation pattern is set to "Positioning termination". • For the ABS control, set a target positioning

address. • For the INC control, set a movement amount

from the positioning start address.

0 62 63

162 163

262 263

362 363

462 463

562 563

662 663

762 763

5 - 1 5 - 1

MELSEC-Q5 SETUP AND PROCEDURES BEFORE OPERATION

CHAPTER 5 SETUP AND PROCEDURES BEFORE OPERATION

This chapter describes the procedure up to the operation of the QD70D and the part identification nomenclature and setting and wiring methods of the QD70D.

5.1 Handling precautions

This section provides the precautions for handling the QD70D.

! WARNING Before cleaning or retightening the mounting screws, be sure to shut off all phases of the external power supply used in the system. Failure to turn all phases OFF could lead to electric shocks.

! CAUTION Use the programmable controller under the environment specified in the User’s Manual of the CPU used. Using the programmable controller outside the general specification range environment could lead to electric shocks, fires, malfunctioning, product damage or deterioration.

Do not directly touch the conductive section and electronic parts of the module. Failure to observe this could lead to module malfunctioning or trouble.

Make sure that foreign matter, such as cutting chips or wire scraps, do not enter the module. Failure to observe this could lead to fires, trouble or malfunctioning.

Never disassemble or modify the module. Failure to observe this could lead to trouble, malfunctioning, injuries or fires.

Before installing or removing the module, be sure to shut off all phases of the external power supply used in the system. Failure to turn all phases OFF could lead to module trouble or malfunctioning.

While pressing the installation lever located at the bottom of module, insert the module fixing tab into the fixing hole in the base unit until it stops. Then, securely mount the module with the fixing hole as a supporting point. Improper mounting of the module may lead to malfunctioning, faults, or dropping. When using the module in the environment subject to much vibration, secure the module with a screw. Tighten the screw within the range of the specified tightening torque. Insufficient tightening may lead to dropping, short-circuit, or malfunctioning. Excessive tightening may damage the screw or module, leading to dropping, short-circuit, or malfunctioning.

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(1) Main body

• The module case is made of resin. Take care not to drop or apply strong impacts onto the case.

• Do not remove the QD70D PCB from the case. Failure to observe this could lead to faults.

• Tighten the screws such as module fixing screws within the following ranges. Undertightening can cause drop of the screw, short circuit or malfunction. Overtightening can damage the screw and/or module, resulting in drop, short circuit, or malfunction.

Screw location Tightening torque range

Module fixing screw (M3 screw)*1 0.36 to 0.48N•m Connector screw (M2.6 screw) 0.25 to 0.32N•m

*1: The module can be easily fixed onto the base unit using the hook at the top of the module. However, it is recommended to secure the module with the module fixing screw if the module is subject to significant vibration.

(2) Cable

• Do not press on the cable with a sharp object. • Do not twist the cable with force. • Do not forcibly pull on the cable. • Do not step on the cable. • Do not place objects on the cable. • Do not damage the cable sheath.

(3) Installation environment

Do not install the module in the following type of environment. • Where the ambient temperature exceeds the 0 to 55°C range. • Where the ambient humidity exceeds the 5 to 95%RH range. • Where there is sudden temperature changes, or where dew condenses. • Where there is corrosive gas or flammable gas. • Where there are high levels of dust, conductive powder, such as iron chips, oil

mist, salt or organic solvents. • Where the module will be subject to direct sunlight. • Where there are strong electric fields or magnetic fields. • Where vibration or impact could be directly applied onto the main body.

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5.2 Procedures before operation

This section gives the procedure up to the operation of the QD70D.

Yes

No

No

Yes

Start

Module installationInstall the QD70D in the specified slot.

WiringWire the external device to the QD70D. (Refer to Section 5.4.)

Intelligent function module switch settingMake setting using GX Developer.(Refer to Section 5.6.)

Connection confirmationConfirm connection using GX Developer orGX Configurator-PT. (Refer to Section 5.5.)

Drive unit operation confirmationMake confirmation with a simple program inthe factory-set status. (Refer to Section 5.7.)

Do you use GX Configurator-PT?

Initial settingUsing the FROM/TO instructions, createan initial value write sequence program.(Refer to Chapter 7.)

Programming, debuggingCreate and confirm a sequence program.(Refer to Chapter 7.)

System operation

Initial settingUsing GX Configurator-PT, make initial setting.(Refer to Section 6.4.)

Do you make autorefresh setting?

Auto refresh settingUsing GX Configurator-PT, make auto refreshsetting. (Refer to Section 6.5.)

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5.3 Part Names

(1) The following is the part names of the QD70D.

2) Axis display LED(AX1 to AX4 only for the QD70D4)

1) RUN indicator LED, ERR. indicator LED

3) External device connection connector(40 pins)*For details, refer to "Section 3.4.2 Signal layout for external device connection connector"

4)

No. Name Details

1) RUN indicator LED, ERR. indicator LED

2) Axis display LED (Axn, n: Axis No.)

Refer to the next page.

3) External device connection connector

Connector for connection of the drive unit and mechanical system inputs.

4) Serial number plate Indicates the serial No. of the QD70D.

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(2) The LED display indicates the following operation statuses of the QD70D and

axes.

QD70D8

RUN

ERR. AX8AX7AX6AX5

AX4AX3AX2AX1

Display Attention point Description Display Attention point Description RUN AX5 AX1 RUN AX5 AX1

AX6 AX2 AX6 AX2

AX7 AX3 AX7 AX3

ERR. AX8 AX4

RUN is OFF. ERR. and AX1 to AX8 states are unfixed.

Hardware failure.

ERR. AX8 AX4

AX1 to AX8 are OFF.

The axes are stopped or on standby.

RUN AX5 AX1 RUN AX5 AX1 AX6 AX2 AX6 AX2 AX7 AX3 AX7 AX3 ERR. AX8 AX4

RUN illuminates. ERR. is OFF.

The module operates normally.

ERR. AX8 AX4

AX1 (or other axis) illuminates.

The corresponding axis is in operation.

RUN AX5 AX1 RUN AX5 AX1 AX6 AX2 AX6 AX2 AX7 AX3 AX7 AX3 ERR. AX8 AX4

ERR. illuminates. System error.

ERR. AX8 AX4

ERR. flashes. AX1 (or other axis) flashes.

An error occurs on the corresponding axis.

The symbols in the Display column indicate the following statuses: : Turns OFF. : Illuminates. : Flashes.

(3) The interface of each QD70D is as shown below.

QD70D4 QD70D8

AX2AX1AX3

AX4

QD70D4

QD70D4RUN

ERR. AX4AX3AX2AX1

AX6AX8 AX2AX5AX7 AX1AX3

AX4

QD70D8

QD70D8RUN

ERR. AX8AX7AX6AX5

AX4AX3AX2AX1

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External device connection connector The connectors for use with the QD70D should be purchased separately by the user. The connector types and pressure displacement tool are listed below.

(a) Connector types

Type Model name

Soldering type, straight out A6CON1 Pressure displacement type, straight out A6CON2

Soldering type, usable for straight out and diagonal out

A6CON4

(b) Pressure-displacement tool

Type Model name Applicable wire size

Contact

Pressure-displacement tool

FCN-363T-T005/H

AWG24 FUJITSU COMPORNENT LIMITED

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5.4 Wiring

This section explains how to wire the drive unit and mechanical system inputs to the QD70D. The following are the precautions for wiring the QD70D. Read these precautions together with "Section 5.1 Handling precautions" to ensure work safety.

5.4.1 Wiring precautions

(1) Always confirm the terminal layout before connecting the wires to the QD70D.

(2) Correctly solder the external device connection connector. An incomplete soldering could lead to malfunctioning.

(3) Make sure that foreign matter such as cutting chips and wire scraps does not enter the QD70D. Failure to observe this could lead to fires, faults or malfunctioning.

(4) A protective label is attached on the top of the QD70D to avoid foreign matter such as wire scraps from entering inside during wiring process. Do not remove the label until the wiring is completed. Before starting the system, however, be sure to remove the label to ensure heat radiation.

(5) Securely mount the external device connection connector to the connector on the QD70D with two screws.

(6) Do not disconnect the external wiring cable connected to the QD70D or drive unit by pulling the cable section. When the cable has a connector, be sure to hold the connector connected to the QD70D or drive unit. Pulling the cable while it is connected to the QD70D or drive unit may lead to malfunctioning or damage of the QD70D, drive unit or cable.

(7) Do not bundle or adjacently lay the connection cable connected to the QD70D external input/output signals or drive unit with the main circuit line, power line, or the load line other than that for the programmable controller. Separate these by 100mm as a guide. Failure to observe this could lead to malfunctioning caused by noise, surge, or induction.

(8) If cables to connect to QD70D absolutely must be positioned near (within 100mm) the power line, use a general shielded cable. The shield must be grounded on the QD70D side. (Wiring examples are given on the following pages.)

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[Wiring example using shielded cables]

The following are the wiring examples for noise reduction when the A6CON1 connector is used.

To externaldevices

Connector

Shieldedcable

Driveunit

Connector(A6CON1)

To drive unit

Use the shortest possible length toground the 2mm or more FG wire.(The shield must be grounded onthe QD70D side.)The length between the connector and the shielded

cables should be the shortest possible.

To QD70D

To externaldevice

2

[Processing example of shielded cables]

Coat the wire withinsulaing tape.

Remove the covering from all shielded cables and bindthe appeared shield with a conductive tape.

Solder the shield of any one of theshielded cables to the FG wire.

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Assembling of connector (A6CON1)

Wrap the coated partswith a heat contractiletube.

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(9) The cables connected to the QD70D should be placed in a duct or fixed. Not

doing so can cause the QD70D, drive unit or cables to be damaged when the cables swing, move or are pulled carelessly, for example, or to malfunction due to poor cable connection.

(10) To comply with the EMC Directive and Low-Voltage Directive, always ground the

QD70D to the control box using the shielded cables and AD75CK cable clamping (Mitsubishi Electric make).

QD

70D

20cm (7.88 inch)to 30cm (11.82 inch)

Inside control box

AD75CK

For details on the AD75CK, refer to the following manual. • AD75CK type Cable Clamping Instruction Manual

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[Wiring examples using duct (improper example and improved example)]

Relay

Driveunit

Drive unit

Noise source

Relay

Relay


QD70D

Relay Realy

Relay

QD70D

Driveunit

Changed

Wiring duct

Wiring duct

Control panel

Control panel

The QD70D and drive units are placed closely.The connection cable between the QD70D anddrive units is separately laidfrom teh power line (in this example, the cable is outside of the duct) and is as short as possible.

(Power system,etc.)

Noise source

(power system,etc.)

The deive units are placednear the noise source.The connection cable betweenthe QD70D and drive units is too long.

Driveunit


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5.5 Confirming the wiring

5.5.1 Confirmation items at completion of wiring

Check the following points when completed with the QD70D installation and wiring.

• Is the module correctly wired? ..............................."Connection confirmation"

By making "connection conformation", you can check whether the "QD70D recognizes the external I/O signals such as the near-point dog and speed-position switching signals", for example. The following is the way to make "connection confirmation".

(1) Method using GX Developer

Read the "Md. 8 External I/O signal" axis monitor data with the monitor function (Buffer memory batch) and check the read values.


Axis 1 Axis 2 Axis 3 Axis 4 Axis 5 Axis 6 Axis 7 Axis 8Md. 8 External I/O signal

80 180 280 380 480 580 680 780

[Bit pattern]

b15 b0b4b8b12

0 : OFF1 : ON


Zero signal

Near-point dog signal

Speed-position switching signal

Deviation counter clear signal

/ Retry switch signal

(Example) Checking the external I/O signals of Axis 1 <GX Developer display screen>

b0 (Zero signal ON)b1 (Near-point dog signal ON)b2 (Speed-position switching signal OFF)b3 (Deviation counter clear signal OFF)

Set the buffer memory address of " Md. 8 External I/O signal" of Axis 1 in decimal.

The states of the external I/O signals can also be checked by system monitor. For details, refer to "Section 12.3 External I/O signal monitor function".

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(2) Method using GX Configurator-PT

Monitor the external I/O signal states on the "Monitor/Test screen". (For details, refer to "Section 6.6 Monitor/test".)

(Example) Checking the external I/O signals of Axis 1 (1 Axis OPR Monitor)

<GX Configurator-PT display screen>

Important If the QD70D is faulty or does not recognize necessary signals, such as the near-point dog and speed-position switching signals, an unexpected accident, e.g. "the axis collides with the stopper without decelerating at the near-point dog during machine OPR control" or "speed control is not switched to position control". Always make "connection confirmation" not only when the positioning control system has been configured but also when any modifications have been made to the system, e.g. modules have been changed or the system has been rewired.

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5.6 Switch setting for intelligent function module

By making the intelligent function module switch setting, the QD70D allows you to set the pulse output mode, external I/O signal logic and rotation direction. However, setting the logic of the speed-position switching signal (CHG)/Retry switch signal (RTRY) is not allowed. It is fixed at the negative logic. Make the intelligent function module switch setting in the "I/O assignment setting" PLC parameter of the QCPU using GX Developer. • There are intelligent function module switches 1 to 5, which are set with 16-bit data. • When you do not make the intelligent function module switch setting, switches 1 to 5

default to 0. The settings made with the intelligent function module switches are made valid after power-on or programmable controller CPU reset. You cannot change the settings during operation.

Switch No. Setting item Setting details/bit assignment Default value

Switch 1 Pulse output mode

1)2)3)4)5)6)7)8)

b15 b8 b7 b0

1 to 8 indicate the axis Nos. 00 : CW/CCW mode 01 : PULSE/SIGN mode

0000

Pulse output logic selection

Switch 2 Deviation counter clear output logic selection

1)2)3)4)5)6)7)8)1)2)3)4)5)6)7)8)

b15 b8 b7 b0

1 to 8 indicate the axis Nos. 0 : Negative logic 1 : Positive logic

Pulse output logic selectionDeviation counter clear output logicselection

0000

Zero signal input logic selection

Switch 3

Rotation direction setting

1)2)3)4)5)6)7)8)1)2)3)4)5)6)7)8)

b15 b8 b7 b0

Rotation direction setting Zero signal input logic selection

<Zero signal input logic selection> 0 : Negative logic 1 : Positive logic

1 to 8 indicate the axis Nos.<Rotation direction setting> 0 : Forward run pulse output increases the current feed value. 1 : Reverse run pulse output increases the current feed value.

0000

Switch 4 Near-point dog signal input logic selection

1)2)3)4)5)6)7)8)

b15 b8 b7 b0

1 to 8 indicate the axis Nos. 0 : Negative logic 1 : Positive logic

0000

Switch 5 Vacant

[Setting example]

Setting details Setting item Axis 8 Axis 7 Axis 6 Axis 5 Axis 4 Axis 3 Axis 2 Axis 1

Target signal names

Switch setting

Pulse output mode PULSE/SIGN mode CW/CCW mode Switch 1:5500H

Pulse output logic selection + - + - + - + -

PULSE F(+/-)PULSE R(+/-)

Deviation counter clear output logic selection

- + - + - + - + CLEAR Switch 2:55AAH

Zero signal input logic selection - - - - + + + + PGO

Rotation direction setting Reverse run pulse output increases the

current feed value. Forward run pulse output increases the

current feed value. –

Switch 3:F00FH

Near-point dog signal input logic selection

+ + - - - - + + DOG Switch 4:00C3H

+: Positive logic -: Negative logic

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[Switch 1] Pulse output mode

Set the pulse output mode that matches the drive unit used. Use "Switch 2" to change between the positive logic and negative logic of the pulse. The following are pulse output mode examples.

(1) CW/CCW mode

During forward run, the forward run feed pulse (CW) will be output. During reverse run, the reverse run feed pulse (CCW) will be output.

Positive logic Negative logic

Forward run

CW

CCW

Reverse run

Forwardrun

Reverserun

CW

CCW

* CW is output from the "PULSE F(+/-)" external I/O signal and CCW from "PULSE R(+/-)". (Refer to "Section 3.4.3".)

(2) PULSE/SIGN mode

Positive logic Negative logic Forward run and reverse run are controlled with the ON/OFF of the direction sign (SIGN). • The motor will forward run when the direction sign is HIGH.• The motor will reverse run when the direction sign is LOW.

Forward run and reverse run are controlled with the ON/OFF of the direction sign (SIGN). • The motor will forward run when the direction sign is LOW.• The motor will reverse run when the direction sign is HIGH.

Forwardrun

Reverserun

PULSE

SIGN

Move in +direction

Move in -direction

PULSE

SIGN

Forwardrun

Reverserun

Move in +direction

move in -direction

* PULSE is output from the "PULSE F(+/-)" external I/O signal and SIGN from "PULSE R(+/-)". (Refer to "Section 3.4.3".)

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(3) A phase/B phase mode

Forward run and reverse run are controlled with the phase difference of the A phase and B phase.

Positive logic Negative logic

1) For multiple of 1 setting

Forward run Reverse runCommand pulse output Command pulse output

A phase(A )

B phase(B )

When B phase is 90behind A phase

When B phase is 90ahead A phase


Forward run Reverse run

Command pulse output Command pulse output




A phase(A )


B phase(B )







* A phase is output from the "PULSE F(+/-)" external I/O signal and B phase from "PULSE R(+/-)". (Refer to "Section 3.4.3".)

[Switch 2] Pulse output logic selection, deviation counter clear output logic selection

Set the pulse output signal (PULSE F/PULSE R) logic and deviation counter clear output signal (CLEAR) logic according to the externally connected device.

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[Switch 3] Zero signal input logic selection, rotation direction setting

<Zero signal input logic selection> Set the zero signal (PG0) input logic according to the externally connected device.

<Rotation direction setting>

Set the relation of the motor rotation direction and current value address increment/decrement.

[Setting procedure]

1) Set "0", and carry out forward run JOG operation. ("0" is set as the default value.)

2) When the workpiece "W" is moving toward the address increment direction, the current setting is O.K. When the workpiece "W" is moving toward the address decrement direction, set "1".

3) Carry out forward run JOG operation again, and if "W" moves toward the increment direction, the setting is complete.

M

QD70D

Motor Workpiece

W

3)

Forward run pulse

Address decre-ment direction

Address incre-ment direction

OP

1)

2)

[Switch 4] Near-point dog signal input logic selection Set the near-point dog signal (DOG) input logic according to the externally connected device.

Important Incorrect setting of any I/O signal logic may disable normal operation. Make the setting carefully when changing the initial setting.

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Operating procedure

Using GX Developer, make settings starting with the QCPU PLC parameter "I/O assignment setting" screen.

(a) I/O assignment setting screen Specify the following for the slot where the QD70D is mounted.

Type : Select "Intelli." Model name : Enter the module's model name. Points : Select 32 points. Start XY : Enter the start I/O signal for the

QD70D.

(b) Switch setting for I/O and intelligent function module Click on Switch setting on the I/O assignment

setting screen to display the screen at left and set switches 1 to 4. The setting can easily be done if values are entered in hexadecimal. Change the input format to hexadecimal and enter values.

POINT

The values set in the "I/O assignment setting" PLC parameter of the QCPU can be confirmed using the module's detailed information that can be displayed on the system monitor of GX Developer. Refer to Section 12.3 for details.

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5.7 Simple reciprocating operation

Before operating the system, check the operation of the drive unit. (Make this check after making sure that the installation, wiring, intelligent function module switch setting and connection confirmation of the QD70D are normal. For details of the drive unit, refer to the manual of the drive unit used.) The following is the way to perform "simple reciprocating operation".

(1) Operation method

Using a sequence program, perform forward run/reverse run of JOG operation. (Refer to Chapter 10 for details of JOG operation.)

(2) Setting items

Set JOG data in the sequence program. The other data (parameters, positioning data, etc.) may be initial values. (Change the JOG data setting values according to the machine specifications.)

Buffer memory addresses JOG data Setting value Setting details


JOG. 1 JOG speed 5000pulse/s Set the speed for JOG operation.

40 41

140 141

240 241

340 341

440 441

540 541

640 641

740 741

JOG. 2 JOG ACC time 1000ms Set the acceleration time for JOG operation.

42 142 242 342 442 542 642 742

JOG. 3 JOG DEC time 1000ms Set the deceleration time for JOG operation.

43 143 243 343 443 543 643 743

JOG. 4 JOG direction flag 0: Forward run JOG 1: Reverse run JOG

Set the rotation direction for JOG operation.

44 144 244 344 444 544 644 744

* Refer to "Section 4.4 List of JOG data" for more information on the setting details.

(3) Reciprocating operation program using JOG operation The following is a program example for Axis 1. (When the QD70D is installed in slot 0 of the main base unit)

[Used devices]

Device name Device Application ON details Remarks

SM400 Normally ON – – Special relay

SM402 ON one scan after RUN – – X10 Module READY QD70D normal –

Input X18 Axis 1 BUSY Axis 1 running –

Y10 Programmable controller READY

Programmable controller CPU normal

– QD70D I/O Output

Y28 Axis 1 JOG start Axis JOG starting –

X38 Forward run JOG command

Forward run JOG operation command being given

External input (command) X39

Reverse run JOG command

Reverse run JOG operation command being given

JOG operation is disabled if X38 and X39 are both ON or both OFF.

Internal relay M1 JOG operation flag JOG operation in progress –

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(4) Confirming the operation status

(a) Method using GX Developer Read the following axis monitor data with the monitor function (Buffer memory batch).

Buffer memory address Axis monitor data Monitor details


Md. 1 Current feed value Monitor the current position. 70 71

170 171

270 271

370 371

470 471

570 571

670 671

770 771

Md. 3 Current speed Monitor the current speed. 74 75

174 175

274 275

374 375

474 475

574 575

674 675

774 775

Md. 4 Axis operation status Monitor the operation status "2: JOG Operation" of the axis. 76 176 276 376 476 576 676 776

Md. 5 Axis error code Monitor the error occurrence definition. 77 177 277 377 477 577 677 777

* For more information on the monitor details, refer to "Section 4.6 List of monitor data".

(Example) Operation status of Axis 1 <GX Developer display screen>

(b) Method using GX Configurator-PT

Monitor the "current feed value", "current speed", "axis operation status" and "axis error code" on the "Monitor/Test screen". (For details, refer to "Section 6.6 Monitor/test".)

(Example) Operation monitor of Axis 1 (Axis #1 Monitor/Test)

<GX Configurator-PT display screen>

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MELSEC-Q6 UTILITY PACKAGE (GX Configurator-PT)

CHAPTER 6 UTILITY PACKAGE (GX Configurator-PT)

The QD70D utility package (GX Configurator-PT) is software designed to make initial setting, auto refresh setting, monitor and others of the QD70D using dedicated screens, without being conscious of the I/O signals and buffer memory. Use the utility package with GX Developer (SW4D5C-GPPW-E or later).

6.1 Utility package functions

The following table lists the functions of the utility package. Function Description Reference

Initial setting

Make initial setting axis-by-axis for the QD70D to operate. Set the values of the items that need initial setting. [Setting items]

• Parameters • OPR data • Positioning data

(The initially set data are registered to PLC parameter, and when the programmable controller CPU is placed in the RUN status, they are written to the QD70D automatically.)

Section 6.4

Auto refresh setting

Set the QD70D buffer memory values to be automatically refreshed. [Auto refresh target buffer memory values]

[Common to all axes] • Error status • Warning status

[Axis by axis] • Current feed value • Current speed • Axis operation status • Axis error code • Axis warning code • Executing positioning data No.

(The values stored in the automatically refreshed QD70D buffer memory are read automatically when the END instruction of the programmable controller CPU is executed.)

Section 6.5

Monitor/test

Monitor/test the buffer memory and I/O signals of the QD70D. • Axis monitor/test • OPR monitor • X/Y monitor

Section 6.6

6

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6.2 Installing and Uninstalling the Utility Package

For how to install or uninstall the utility package, refer to "Method of installing the MELSOFT Series" included in the utility package.

POINT The latest version of "Method of installing the MELSOFT Series" can be downloaded on the MELFANSweb website. http://www.MitsubishiElectric.co.jp/melfansweb

6.2.1 Handling precautions

The following explains the precautions on using the Utility package: (1) For safety

Since the utility is add-in software for GX Developer, read "Safety Precautions" and the basic operating procedures in the GX Developer Operating Manual.

(2) About installation

GX Configurator-PT is add-in software for SW4D5C-GPPW-E or later versions. Therefore, GX Configurator-PT must be installed on the personal computer that has already SW4D5C-GPPW-E or later version installed.

(3) Screen error of Intelligent function module utility

Insufficient system resource may cause the screen to be displayed inappropriately while using the Intelligent function module utility. If this occurs, close the Intelligent function module utility, GX Developer (program, comments, etc.), and other applications, and then start GX Developer and Intelligent function module utility again.

(4) To start the Intelligent function module utility

(a) In GX Developer, select "QCPU (Q mode)" for PLC series and specify a

project. If any PLC series other than "QCPU (Q mode)" is selected, or if no project is specified, the Intelligent function module utility will not start.

(b) Multiple Intelligent function module utilities can be started.

However, [Open parameters] and [Save parameters] operations under [Intelligent function module parameter] are allowed for one Intelligent function module utility only. Only the [Monitor/test] operation is allowed for the other utilities.

(5) Switching between two or more Intelligent function module utilities

When two or more Intelligent function module utility screens cannot be displayed side by side, select a screen to be displayed on the top of others using the task bar.

6

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(6) Number of parameters that can be set in GX Configurator-PT

When multiple intelligent function modules are mounted, the number of parameter settings must not exceed the following limit.

Maximum number of parameter settings

When intelligent function modules are installed to: Initial setting Auto refresh setting

Q00J/Q00/Q01CPU 512 256 Q02/Q02H/Q06H/Q12H/Q25HCPU 512 256 Q02PH/Q06PH/Q12PH/Q25PHCPU 512 256 Q12PRH/Q25PRHCPU 512 256 Q00UJ/Q00U/Q01UCPU 512 256 Q02UCPU 2048 1024 Q03UD/Q04UDH/Q06UDH/Q10UDH/Q13UDH/ Q20UDH/Q26UDH/Q03UDE/Q04UDEH/Q06UDEH/Q10UEDH/Q13UDEH/ Q20UDEH/Q26UDEHCPU

4096 2048

Q50UDEH/Q100UDEHCPU Reserved Reserved MELSECNET/H remote I/O station 512 256

For example, if multiple intelligent function modules are installed to the MELSECNET/H remote I/O station, configure the settings in GX Configurator so that the number of parameter settings for all the intelligent function modules does not exceed the limit of the MELSECNET/H remote I/O station. Calculate the total number of parameter settings separately for the initial setting and for the auto refresh setting. The number of parameters that can be set for one module in GX Configurator-PT is as shown below. Target module Initial setting Auto refresh setting

QD70D4 12 (Fixed) 26 (Max.) QD70D8 24 (Fixed) 50 (Max.)

Example) Counting the number of parameter settings in Auto refresh setting

This one row is counted as one setting.Blank rows are not counted.Count up all the setting items on this screen, and add the total to the number of settings forother intelligent function modules to get a grandtotal.

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6.2.2 Operating environment

This section explains the operating environment of the personal computer that runs GX Configurator-PT.

Item Description

Installation (Add-in) target *1 Add-in to GX Developer Version 4 (English version) or later*2 *3

Computer A personal computer with the operating systems below. CPU Required memory

Refer to "Operating system and performance required for personal computer" on the next page.

For installation 65 MB or more Hard disk space For operation 10 MB or more Display 800 600 dots or more resolution *4

Operating system

Microsoft® Windows® 95 Operating System (English version) Microsoft® Windows® 98 Operating System (English version) Microsoft® Windows® Millennium Edition Operating System (English version) Microsoft® Windows NT® Workstation Operating System Version 4.0 (English version)Microsoft® Windows® 2000 Professional Operating System (English version) Microsoft® Windows® XP Professional Operating System (English version) Microsoft® Windows® XP Home Edition Operating System (English version) Microsoft® Windows Vista® Home Basic Operating System (English version) Microsoft® Windows Vista® Home Premium Operating System (English version) Microsoft® Windows Vista® Business Operating System (English version) Microsoft® Windows Vista® Ultimate Operating System (English version) Microsoft® Windows Vista® Enterprise Operating System (English version) Microsoft® Windows® 7 Starter Operating System (English version) Microsoft® Windows® 7 Home Premium Operating System (English version) Microsoft® Windows® 7 Professional Operating System (English version) Microsoft® Windows® 7 Ultimate Operating System (English version) Microsoft® Windows® 7 Enterprise Operating System (English version)

*1: Install GX Configurator-PT in GX Developer Version 4 or higher in the same language. GX Developer (English version) and GX Configurator-PT (Japanese version) cannot be used in combination, and GX Developer (Japanese version) and GX Configurator-PT (English version) cannot be used in combination.

*2: GX Configurator-PT is not applicable to GX Developer Version 3 or earlier. *3: When Windows® 7 is used, install GX Developer Version 8.91V or later. *4: When Windows Vista® or Windows® 7 is used, resolution of 1024 768 dots or more is recommended.

6 - 5 6 - 5


Operating system and performance required for personal computer

Performance required for personal computer Operating system

CPU Memory

Windows® 95 Pentium® 133MHz or more 32MB or more Windows® 98 Pentium® 133MHz or more 32MB or more Windows® Me Pentium® 150MHz or more 32MB or more Windows NT® Workstation 4.0 Pentium® 133MHz or more 32MB or more Windows® 2000 Professional Pentium® 133MHz or more 64MB or more Windows® XP Pentium® 300MHz or more 128MB or more

Windows Vista® Pentium® 1GHz or more 1GB or more Windows® 7 Pentium® 1GHz or more 1GB or more

POINT

• The functions shown below are not available for Windows® XP, Windows Vista® and Windows® 7. If any of the following functions is attempted, this product may not operate normally.

Start of application in Windows® compatible mode Fast user switching Remote desktop Large fonts (Details setting of Display Properties)

• Use a USER authorization or higher in Windows Vista® and Windows® 7. • When Windows® 7 is used, the following functions are not available.

Windows XP Mode Windows Touch

6 - 6 6 - 6


6.3 Utility Package Operation

6.3.1 Common utility package operations

(1) Control keys Special keys that can be used for operation of the utility package and their applications are shown in the table below.

Key Application

Esc Cancels the current entry in a cell. Closes the window.

Tab Moves between controls in the window.

Ctrl Used in combination with the mouse operation to select multiple cells for test execution.

Delete Deletes the character where the cursor is positioned. When a cell is selected, clears all of the setting contents in the cell.

BackSpace Deletes the character where the cursor is positioned.

Moves the cursor.

PageUp Moves the cursor one page up.

PageDown Moves the cursor one page down.

Enter Completes the entry in the cell.

(2) Data created with the utility package The following data or files that are created with the utility package can be also handled in GX Developer. Figure 6.1 shows respective data or files are handled in which operation.

<Intelligent function module parameter>

(a) This represents the data created in Auto refresh setting, and they are stored in an intelligent function module parameter file in a project created by GX Developer.

Project

ProgramParameter

PLC parameterNetwork parameterIntelligent function module parameter

(b) Steps 1) to 3) shown in Figure 6.1 are performed as follows:

1) From GX Developer, select: [Project] [Open project] / [Save] / [Save as]

2) On the intelligent function module selection screen of the utility, select: [Intelligent function module parameter] [Open parameters] / [Save parameters]

6 - 7 6 - 7


3) From GX Developer, select:

[Online] [Read from PLC] / [Write to PLC] "Intelligent function module parameters" Alternatively, from the intelligent function module selection screen of the utility, select: [Online] [Read from PLC] / [Write to PLC]

<Text files>

(a) A text file can be created by clicking the Make text file button on the initial

setting, Auto refresh setting, or Monitor/Test screen. The text files can be utilized to create user documents.

QCPU

RUN.ERR.

USER.BAT.

BOOT.

RS-232

USB

Q25HCPU

MODE.

A

GX Developer/GX Configurator-PT Disk

Project

A A

B

Personal computer

A : Intelligent function module parametersB : Data saved by "Make text file"

1)

2)

3)

Project

Figure 6.1 Correlation chart for data created with the utility package

6 - 8 6 - 8


6.3.2 Operation overview

[Tools] - [Intelligent function utility] - [Start]

Refer to Section 6. 3. 3

Initial setting screen

Refer to Section 6. 4

Initial setting Auto refresh

Auto refresh setting screen


1)

GX Developer screen

Screen for selecting a target intelligentfunction module

Enter "Start I/O No.", and select "Module type" and"Module model name".

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Monitor/Test screen


1)

[Online] - [Monitor/Test]

Selecting monitor/test module screen

Monitor/Test Select a module to be monitored/tested.

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6.3.3 Starting the Intelligent function module utility

[Operating procedure] Intelligent function module utility is started from GX Developer. [Tools] [Intelligent function utility] [Start]

[Setting screen]

[Explanation of items] (1) Activation of other screens

Following screens can be displayed from the intelligent function module utility screen. (a) Initial setting screen

"Start I/O No. *1" "Module type" "Module model name" Initial setting

(b) Auto refresh setting screen

"Start I/O No. *1" "Module type" "Module model name" Auto refresh

(c) Select monitor/test module screen

[Online] [Monitor/Test]

*1 Enter the start I/O No. in hexadecimal.

(2) Command buttons Delete Deletes the initial setting and auto refresh setting of the selected

module. Exit Closes this screen.

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(3) Menu bar

(a) File menu Intelligent function module parameters of the project opened by GX Developer are handled. [Open parameters]

: Reads a parameter file.

[Close parameters]

: Closes the parameter file. If any data are modified, a dialog asking for file saving will appear.

[Save parameters]

: Saves the parameter file.

[Delete parameters]

: Deletes the parameter file.

[Exit] : Closes this screen.

(b) Online menu [Monitor/Test] : Activates the Select monitor/test module screen. [Read from PLC] : Reads intelligent function module parameters from the

CPU module. [Write to PLC] : Writes intelligent function module parameters to the CPU

module.

POINT (1) Saving intelligent function module parameters in a file

Since intelligent function module parameters cannot be saved in a file by the project saving operation of GX Developer, save them on the shown module selection screen.

(2) Reading/writing intelligent function module parameters from/to a

programmable controller CPU using GX Developer. (a) Intelligent function module parameters can be read from and written into a

programmable controller after having been saved in a file. (b) Set a target programmable controller CPU in GX Developer:

[Online] [Transfer setup]. (c) When the QD70D is mounted to the remote I/O station, use "Read from

PLC" and "Write to PLC" of GX Developer. (3) Checking the required utility

While the start I/O is displayed on the Intelligent function module utility setting screen, " " may be displayed for the model name. This means that the required utility has not been installed or the utility cannot be started from GX Developer. Check the required utility, selecting [Tools] - [Intelligent function utility] - [Utility list...] in GX Developer.

6 - 12 6 - 12


6.4 Initial setting

[Purpose] Make initial setting axis-by-axis for the QD70D to operate. The following items are data that need initial setting. • Parameters • OPR data • Positioning data This initial setting makes sequence program setting unnecessary. For more information on the setting details, refer to "CHAPTER 4 DATA USED FOR POSITIONING CONTROL".

[Operating procedure]

"Start I/O No.*" " Module type " " Module model name " Initial setting

* Enter the start I/O No. in hexadecimal.

[Setting screen]

<Initial setting of parameters and OPR data>

Axis #1 Parameter Setting Axis #1 OPR Data Setting

Move to sub window

Select items to be moved to sub window.

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<Initial setting of positioning data>

Move tosub window

Select items to be movedto sub window.

Axis #1PositioningSetting

[Explanation of items] (1) Setting item list

Setting item

Axis #1 Parameter Setting Axis #1 OPR data Setting

to Axis # n Parameter Setting Axis # n OPR data Setting Axis #1 Positioning Data Setting

to Axis #n Positioning Data Setting

n indicates the axis No. QD70D4: 1 to 4 QD70D8: 1 to 8

(2) Command button

Make text file Creates a file containing the screen data in text file format.

End setup Saves the set data and ends the operation.

Cancel Cancels the setting and ends the operation.

POINT

Initial settings are stored in an intelligent function module parameter file. After being written to the CPU module, the initial setting is made effective by either (1) or (2). (1) Cycle the RUN/STOP switch of the CPU module: STOP RUN STOP

RUN. (2) With the RUN/STOP switch set to RUN, turn off and then on the power or reset

the CPU module. If the initialization settings have been written by a sequence program, the initialization settings will be executed during the STOP RUN of the CPU module. Arrange so that the initial settings written by the sequence program are re-executed during the STOP RUN of the CPU module.

6 - 14 6 - 14


6.5 Auto refresh setting

[Purpose] Configure the QD70D's buffer memory for automatic refresh. There are the following setting items as the auto refresh setting parameters. [Common to all axes]

• Error status • Warning status [Axis by axis]

• Current feed value • Current speed • Axis operation status • Axis error code • Axis warning code • Executing positioning data No.

This auto refresh setting eliminates the need for reading by sequence programs.


"Start I/O No.*" "Module type" "Module model name" Auto refresh


[Setting screen]

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Setting item Error status Warning status Axis #1 Current Feed Value Axis #1 Current Speed Axis #1 Axis Operation Status Axis #1 Axis Error Code Axis #1 Axis Warning Code Axis #1 Executing Positioning Data No.

to Axis #n Current Feed Value Axis #n Current Speed Axis #n Axis Operation Status Axis #n Axis Error Code Axis #n Axis Warning Code Axis #n Executing Positioning Data No.


(2) Items

Module side Buffer size

: Displays the buffer memory size of the setting item.

Module side Transfer word count

: Displays the number of words to be transferred.

Transfer direction : " " indicates that data are written from the programmable controller CPU to the buffer memory.

" " indicates that data are loaded from the buffer memory to the programmable controller CPU.

PLC side device : Enter a CPU module side device that is to be automatically refreshed. Applicable devices are X, Y, M, L, B, T, C, ST, D, W, R, and ZR. When using bit devices X, Y, M, L or B, set a number that can be divided by 16 points (examples: X10, Y120, M16, etc.) Also, buffer memory data are stored in a 16-point area, starting from the specified device number. For example, if X10 is entered, data are stored in X10 to X1F.

(3) Command button


End setup Saves the set data and ends the operation.

Cancel Cancels the setting and ends the operation.

POINTS • The auto refresh settings are stored in an intelligent function module parameter

file. The auto refresh settings become effective by turning the power OFF and then ON or resetting the CPU module after writing the intelligent function module parameters to the CPU module.

• The auto refresh settings cannot be changed from sequence programs. However, processing equivalent to auto refresh can be added using the FROM/TO instruction in the sequence program.

6 - 16 6 - 16


6.6 Monitoring/Test

6.6.1 Monitoring/Test screen

[Purpose] Start buffer memory monitoring/testing and I/O signal monitoring/testing from this screen. (Refer to "Section 4.6 List of monitor data" for details of monitor data.)


Select monitor/test module screen "Start I/O No. *" "Module type" "Module model name" Monitor/test


The screen can also be started from System monitor of GX Developer Version 6 or later. Refer to the GX Developer Operating Manual for details.

[Setting screen]

<Axis Monitor/Test, OPR Monitor>

Move to sub window

Select items to be moved to sub window.

Axis #1 Monitor/Test Axis #1 OPR Monitor

6 - 17 6 - 17


<X/Y Monitor>

Move tosub window

X/Y Monitor

Select items to be movedto sub window.


Setting item

Module READY PLC READY Axis Error Occurrence Axis Warning Occurrence Axis #1 BUSY

to Axis #n BUSY Axis #1 Error Status

to Axis #n Error Status Axis #1 Warning Status

to Axis #n Warning Status Axis #1 Monitor/test Axis #1 OPR Monitor

to Axis #n Monitor/test Axis #n OPR Monitor X/Y Monitor


(2) Items

Setting item : Displays I/O signals and buffer memory names. Current value : Monitors the I/O signal states and present buffer memory values. Setting value : Enter or select values to be written into the buffer memory for test

operation (Axis Error Reset).

6 - 18 6 - 18


(3) Command button

Current value display Displays the current value of the item selected. (This is used to check the text that cannot be displayed in the current value field. However, in this utility package, all items can be displayed in the display fields).


Start monitor / Stop monitor Selects whether or not to monitor current values.

Execute test Performs a test on the selected items (Axis Error Reset). Click this button after selecting "Error Reset Request" in the Setting value field of "Axis Error Reset" on the Axis monitor/test sub window.

Select "Error Reset Request"

Place cursor at "Error Reset Request"

Click "Execute test"

Close Closes the currently open screen and returns to

the previous screen.

6 - 19 6 - 19


MEMO

7 - 1 7 - 1

MELSEC-Q7 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL

CHAPTER 7 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL

This chapter describes sequence programs of the positioning control system using the QD70D.

7.1 Precautions for creating program

(1) System configuration Unless otherwise specified in this section and later, the sequence programs shown are those for the following system. Refer to Section 7.2 for the applications of the devices used.

powersupplymodule

QCPU

QD70D

QX10

X/Y1

0 to

X/Y

2F

X30

to X

3F

(2) Communication with QD70D There are two methods for communication with QD70D using the sequence program: a method using an "intelligent function device" and a method using a FROM/TO command. When using the FROM/TO command for communication with QD70D, change the circuit incorporating the "intelligent function device" as follows. (a) When the circuit uses the "intelligent function device" on the destination (D)

side of a MOV command, change the command to a TO command.

X21MOVP

U0\G50

K1H0TOP K50X21

K1

K1

Designatedvalueat U0

Number of write data (1)

Intelligent function device

Designatedvalue

at G50 (b) When the circuit uses the "intelligent function device" on the source(s) side

and the destination (D) side of a MOV command, change the command to a FROM command and a TO command.

X15

MOVPU6\G1

U0\G79

D100 K1H0FROMP K79

D100 K1H6TOP K1

X15 X0C

Set the same device.

X0C

7

7 - 2 7 - 2


(c) When the circuit uses the "intelligent function device" for a COMPARISON

command, change the command to a FROM command and a COMPARISON command.

M0

D102 K1H0FROMP K51M0

M0RST

= K0U0\G51 M0RST

= K0D102Data read out

(d) When the circuit uses the "intelligent function device" for a WAND command,

change the command to a FROM command and a WAND command.

M2

D101 K1H0FROMP K79M2

Data read out

D0H1WANDPU0\G79

D0H1WANDP D101

REMARK

For the intelligent function devices, refer to the QnUCPU User's Manual (Function Explanation, Program Fundamentals) and the Qn(H)/QnPH/QnPRHCPU User's Manual (Function Explanation, Program Fundamentals). For details on commands used in sequence programs, refer to the MELSEC-Q/L Programming Manual (Common Instruction) and the QnACPU Programming Manual (Common Instructions).

7

7 - 3 7 - 3


7.2 List of devices used

In "Section 7.4 Positioning control program examples", the used devices are assigned as indicated in the following table. The I/O numbers for QD70D indicate those when QD70D is mounted in the 0-slot of the main base. If it is mounted in the slot other than the 0-slot of the main base, change the I/O number to that for the position where QD70D was installed. In addition, change the external inputs, internal relays and data resisters, according to the system used. (1) Inputs/outputs, external inputs of QD70D

Device Device name Axis 1 Axis 2 Axis 3 Axis 4 Axis 5 Axis 6 Axis 7 Axis 8 Application Details when ON

X10 Module READY signal QD70D ready X11 Axis error occurrence signal Axis error occurring X12 Axis warning occurrence signal Axis warning occurring

X18 X19 X1A X1B X1C X1D X1E X1F BUSY signal BUSY (running) X20 X21 X22 X23 X24 X25 X26 X27 Start complete signal Start complete

Inputs

X28 X29 X2A X2B X2C X2D X2E X2F Positioning complete signal Positioning control complete Y10 PLC READY signal PLC CPU ready

Y18 Y19 Y1A Y1B Y1C Y1D Y1E Y1F Positioning start signal Start being requested Y20 Y21 Y22 Y23 Y24 Y25 Y26 Y27 Axis stop signal Stop being requested

Inputs/ outputs

of QD70D

Outputs

Y28 Y29 Y2A Y2B Y2C Y2D Y2E Y2F JOG start signal JOG being started

X30 OPR request OFF command OPR request OFF being commanded

X31 Machine OPR control command

Machine OPR control being commanded

X32 Fast OPR control command Fast OPR control being commanded

X33 Positioning control start command

Positioning control start being commanded

X34 Speed-position switching control command

Speed-position switching control being commanded

X35 Speed-position switching enable command

Speed-position switching enable being commanded

X36 Speed-position switching disable command

Speed-position switching disable being commanded

X37 Positioning control start signal command

Positioning control start signal being commanded

X38 Forward run JOG command Forward run JOG operation being commanded

X39 Reverse run JOG command Reverse run JOG operation being commanded

X3A Speed change command Speed change being commanded

X3B Restart command Restart being commanded X3C Error reset command Error reset being commanded X3D Stop command Stop being commanded

X3E Target position change command

Target position change command

External input (command)

X3F

–

Current value changing command

Current value changing command

7 - 4 7 - 4


(2) Internal relays

Device Device name Axis 1 Axis 2 Axis 3 Axis 4 Axis 5 Axis 6 Axis 7 Axis 8 Application Details when ON

M0 Parameter/OPR data setting complete

Parameter/OPR data setting complete

M1 OPR request OFF command OPR request OFF being requested

M2 OPR request OFF command pulse

OPR request OFF command given

M3 OPR request OFF command storage

OPR request OFF command held

M4 Fast OPR control command Fast OPR control being requested

M5 Fast OPR control command storage

Fast OPR control command held

M6 Positioning control start command pulse

Positioning control start command given

M7 Positioning control start command storage

Positioning control start command held

M8 JOG operation flag JOG operation being performedM9 Speed change command pulse Speed change command given

M10 Speed change command storage Speed change command held

M11 Restart command pulse Restart command given M12 Restart command storage Restart command held M13 Axis 1 error occurrence flag Axis 1 error occurring M14 Error reset command pulse Error reset command given M15 Stop command pulse Stop command given

M16 Target position change command pulse

Target position change commanded

Internal relay

M17

–

Target position change command storage

Target position change command held

7 - 5 7 - 5


(3) Data registers (for Axis 1)

Device name Device Data stored Setting value

D0 D1

( Pr. 1 Software stroke limit upper limit value) 100000000pulse

D2 D3

( Pr. 2 Software stroke limit lower limit value) -100000000pulse

D4 ( Pr. 3 Software stroke limit valid/invalid setting) 0 (Valid) D5 ( Pr. 4 Current feed value during speed control) 0 (No update) D6 D7

( Pr. 5 Speed limit value) 100000pulse/s

D8 D9

( Pr. 6 Bias speed at start) 100pulse/s

D10 ( Pr. 7 Positioning complete signal output time) 100ms D11 ( Pr. 8 Deviation counter clear signal output time) 10ms D12 ( Pr. 9 PULSE/SIGN method selection setup/hold time) 0 (10μs) D13

Parameter

( Pr. 10 Stop mode during path control) 0 (Position match stop) D14 (OPR. 1 OPR method) 0 (Near-point dog method) D15 (OPR. 2 OPR direction) 0 (Forward direction) D16 D17

(OPR. 3 OP address) 0pulse

D18 D19

(OPR. 4 OPR speed) 20000pulse/s

D20 D21

(OPR. 5 Creep speed) 1000pulse/s

D22 (OPR. 6 ACC/DEC time at OPR) 1000ms D23 (OPR. 7 DEC/STOP time at OPR) 1000ms D24 D25

(OPR. 8 Setting for the movement amount after near-point dog ON) 3000pulse

D26

OPR data

(OPR. 9 OPR dwell time) 100ms D27 ( Da. 1 Operation pattern) 0 (Positioning termination) D28 ( Da. 2 Control method) 1 (1-axis linear control (ABS))D29 ( Da. 3 ACC/DEC time) 1000ms D30 ( Da. 4 DEC/STOP time) 1000ms D31 D32

( Da. 5 Command speed) 30000pulse/s

D33 D34

( Da. 6 Positioning address/movement amount) 250000pulse

D35


( Da. 7 Dwell time) 100ms D36 ( Da. 1 Operation pattern) 0 (Positioning termination)

D37 ( Da. 2 Control method) 3 (Speed. Position

Ctrl(Forward)) D38 ( Da. 3 ACC/DEC time) 1000ms D39 ( Da. 4 DEC/STOP time) 1000ms D40 D41

( Da. 5 Command speed) 30000pulse/s

D42 D43


D44


( Da. 7 Dwell time) 100ms D45 ( Da. 1 Operation pattern) 0 (Positioning termination) D46 ( Da. 2 Control method) 5 (Current value changing) D51

Data register

D52



7 - 6 7 - 6


Device name Device Data stored Setting value

D54 OPR request flag (Md. 7 Status (bit 0)) –

D55 (Cd. 3 Start method) Refer to Section 7.5.2 D56 (Cd. 6 Speed change request) D57 D58

(Cd. 7 New speed value)

D59 (Cd. 8 ACC/DEC time at speed change) D60 (Cd. 9 DEC/STOP time at speed change)

Refer to Section 7.5.4

D61 Axis 1 error status (Md. 10 Error status (bit 0)) –

D62 (Md. 5 Axis error code) –

D70 (Cd. 10 Target position change request) 1

D71 (Cd. 11 Target position change value) 500000pulse

7 - 7 7 - 7


7.3 Creating a program

This section explains "positioning control operation programs" actually used. The programs designed to perform the functions described in "SECTION 2 CONTROL DETAILS AND SETTING" are installed in the "positioning control operation programs" explained in "Section 7.3.2". (To monitor control, add a necessary monitor program according to the system. Refer to "Section 4.6 List of monitor data" for monitor items.)

7.3.1 General configuration of program

The general configuration of the "positioning control operation program" is shown below.

Parameter anddata are...

Set using the GX Configurator-PT

Set using the sequence program

Initialization program

Parameter and datasetting program

Start method setting program

Start program

JOG operation program

Sub program

Stop program

Refer to section 7.5.1

Completion of program creation

Pos

ition

ing

cont

rol o

pera

tion

prog

ram

Start of program creation



Refer to section 5.7


7 - 8 7 - 8


7.3.2 Positioning control operation program

The following are individual programs which comprise the "positioning control operation programs". When creating a program, refer to the explanation item of the corresponding program and "Section 7.4 Positioning control program example" and create an operation program according to the positioning control system. (The following programs are numbered. It is recommended to comprise the programs in order of these numbers.)

Set using the GX Configurator-PT

Set using sequence program (TO command)

No.1

Not carried out

Carried out

Parameter and data are...

No.3Block start data setting program

OPR is...

OPR request OFF programNo.5

Start of program creation

Parameter and data setting program

Initialization program

Parameter setting program

Continued on next page

No.2OPR data setting program

No.4PLC READY signal [Yn0] ONprogram * Required

* When not carrying out "OPR control", the OPR data do not need to be set.

7 - 9 7 - 9


Continued from previous page

* Programs needed to exercise "OPR control" "Positioning control"No.6



ŽŸ ƒy �[ ƒW ‚ÖEnd of program creation

No.8JOG operation program

JOG operation program * Program needed to perform "JOG operation"

Sub program

No.9Speed change program

No.11Restart program

No.12Error rest program

No.10Target position change program

* Programs added according to control exercised (Create as necessary)

Stop program

Stop programNo.13

* Program designed to stop control

No.7Positioning control start program

Start program

7 - 10 7 - 10


7.4 Positioning control program examples

An example of the "Axis 1" positioning control program is given in this section.

[No.1] to [No.3] parameter and data setting program

* When setting the parameters or data with the sequence program, set them in the QD70 using the TO command from the PLC CPU. (Carry out the settings while the PLC READY signal [Y10] is OFF.)

* When setting the parameters or data with the GX Configurator-PT, the [No.1] to [No.3] program is not necessary.

7 - 11 7 - 11


7 - 12 7 - 12


7 - 13 7 - 13


7 - 14 7 - 14


7 - 15 7 - 15


7 - 16 7 - 16


7.5 Program details

7.5.1 Initialization program

OPR request OFF program This program forcibly turns OFF the "OPR request flag" (Md. 7 Status: b0) which is ON. When using a system that does not require OPR control, assemble the program to cancel the "OPR request" made by the QD70D when the power is turned ON, etc.

Data requiring setting Set the following data to use the OPR request flag OFF request.

Buffer memory address Setting item Setting details


Cd. 2 OPR request flag OFF request

1: Turn OFF the OPR request flag. 51 151 251 351 451 551 651 751

* Refer to section "4.7 List of control data" for details on the setting details.

OPR OFF requesting timing chart

[ Status: b0]

Programmable controllerREADY signal [Yn0]

Module READY signal [Xn0]

OPR request flag OFF request

OFF

ON

OFF

ON

OFF

OPR request flag

0 1 0

Md.7

Cd.2

ON

Fig. 7.1 OPR OFF requesting timing chart

7 - 17 7 - 17


7.5.2 Start method setting program

This program sets which control, out of "OPR" control or "positioning control" to execute.

Data requiring setting

(1) Set "Cd. 3 Start method" according to the control to be started.

Buffer memory address Setting item Setting value


Cd. 3 Start method

0 to 10 : Positioning control (Starts from No.1 when 0 is set)

9000 : Machine OPR control 9001 : Fast OPR control

52 152 252 352 452 552 652 752

* Refer to "Section 4.7 List of control data" for more information on the setting details.

(2) Set the following control data for "speed-position switching control". Buffer memory address

Setting item Setting value Axis 1 Axis 2 Axis 3 Axis 4 Axis 5 Axis 6 Axis 7 Axis 8


1: The speed-position switching signal is made valid (enabled).

54 154 254 354 454 554 654 754


7.5.3 Start program

This program is designed to start OPR control or positioning control using the positioning start signal [Yn8 to YnF]. (Refer to Chapters 8 and 9 for details of OPR control and positioning control.)

Buffer memory

52

Input/output signal

01)

ON2)

Yn8

Drive unit

Positioning data No.1 is started

3)

* When starting positioning with the scan after the completion of positioning, insert X(n+1)0 as an interlock so that positioning is started after Yn8 is turned OFF and X(n+1)0 is turned OFF.


1) Set "Cd. 3 Start method" according to the control to be started. (Positioning control in the

above example) 2) Enter the positioning start signal [Yn8]. 3) Positioning data No. "1" is started.

Fig. 7.2 Procedures for starting control (for axis 1)

7 - 18 7 - 18


Starting conditions To start the control, the following conditions must be satisfied. The necessary start conditions must be incorporated in the sequence program so that the control is not started when the conditions are not satisfied.

Device Signal name Signal state Axis 1 Axis 2 Axis 3 Axis 4 Axis 5 Axis 6 Axis 7 Axis 8

Programmable controller READY signal

ON Programmable controller CPU ready

Yn0

Module READY signal ON QD70D ready Xn0 Axis error occurrence signal

OFF No error Xn1

Axis stop signal OFF Axis stop signal being OFF Y(n+1)0 Y(n+1)1 Y(n+1)2 Y(n+1)3 Y(n+1)4 Y(n+1)5 Y(n+1)6 Y(n+1)7

Start complete signal OFFStart complete signal being OFF


Inte

rface

sig

nal

BUSY signal OFF QD70D not operating Xn8 Xn9 XnA XnB XnC XnD XnE XnF

7 - 19 7 - 19


Operation when starting

(1) When the positioning start signal turns ON, the start complete signal and BUSY signal turn ON, and the OPR control or positioning control starts. It can be seen that the axis is operating when the BUSY signal is ON.

(2) When the positioning start signal turns OFF, the start complete signal also turns OFF. If the positioning start signal is ON even after OPR control positioning control is completed, the start complete signal will remain ON.

(3) If the positioning start signal turns ON again while the BUSY signal is ON, the warning "operating start (warning code: 10)" will occur.

(4) The process taken when positioning control is completed will differ according to case (a) and (b) below. (a) When next positioning control is not to be carried out

• After the preset time of the dwell time has elapsed, positioning control is completed.

• On completion of positioning control, the BUSY signal turns OFF and the positioning complete signal turns ON. However, it does not turn ON if the positioning complete signal output time is "0".

• When the positioning complete signal output time elapses, the positioning complete signal turns OFF.

(b) When next positioning is to be carried out

• After the preset time of the dwell time has elapsed, next positioning control is started.

Positioning start signal[Yn8 to YnF]

OFF

ON

Start complete signal[X(n+1)0 to X(n+1)7]

OFF

ON

BUSY signal[Xn8 to XnF]

OFF

ON

Positioning complete signal[X(n+1)8 to X(n+1)F]

OFF

ON

Positioning control

V

t

Dwell time

Dwell time Dwell time

Fig. 7.3 ON/OFF timing of each signal at start of positioning control

POINT The BUSY signal [Xn8 to XnF] turns ON even when position control of movement amount 0 is executed. However, since the ON time is short, the ON status may not be detected in the sequence program. (The ON status of the start complete signal [X(n+1)0 to X(n+1)7] and positioning complete signal [X(n+1)8 to X(n+1)F] can be detected in the sequence program.)

7 - 20 7 - 20


Starting time chart The time chart for starting each control is shown below.

(1) Machine OPR control starting timing chart

Positioning start signal [Yn8 to YnF]


Start complete signal [X(n+1)0 to X(n+1)7]

BUSY signal [Xn8 to XnF]

Axis error occurrence signal [Xn1]

OFF

OFF

ON

ON

ON

ON

OFF

OFF

9000

ON

ON

OFF

OFF

Zero signal

Near-point dog

V

t

OPR request flag[ Status: b0]Md.7

Start methodCd.3

OFF

ON

OFF

OPR complete flag[ Status: b1]Md.7

Programmable controller READY signal [Yn0]

Fig. 7.4 Machine OPR control starting timing chart

7 - 21 7 - 21


(2) Fast OPR control starting timing chart






OFF

OFF

ON

ON

ON

ON

OFF

OFF

9001

V

t

ON

OFF

OFF

Start methodCd.3


Fig. 7.5 Fast OPR starting timing chart

(3) Positioning control starting timing chart

V

t

Positioning data No.Dwell time

2(0)

Operation pattern

1(2)

0

Module READY signal [Xn0] OFF

Positioning complete signal [X(n+1)8 to X(n+1)F] OFF

Axis error occurrence signal [Xn1] OFF


ON

Start complete signal [X(n+1)0 to X(n+1)7] OFFON

BUSY signal [Xn8 to XnF] OFFON

ONOFF

ONOFF

Start methodCd.3

ON


Fig. 7.6 Positioning control starting timing chart

7 - 22 7 - 22


(4) Speed-position switching control starting timing chart

V

t

Dwell timeOperation pattern (0)Positioning data No. (1)

Speed control Position control

0

1

OFF

Positioning start signal [Yn8 to YnF] OFF

Module READY signal [Xn0] OFF

Start complete signal [X(n+1)0] OFF

BUSY signal [Xn8 to XnF] OFF

Positioning complete signal [X(n+1)8 to X(n+1)F] OFF


Speed-position switching signal [CHG] OFF

ON

ON

ON

OFF

ON

ON

ON

ON

Start methodCd.3

Speed-position switching requestCd.5


Fig. 7.7 Speed-position switching control starting timing chart

POINT

For positioning control or OPR control, multiple axes can be started simultaneously. In this case, turn ON the positioning start signals of the target axes within the same scan. (However, after multiple axes have been started simultaneously, they cannot be stopped simultaneously.) For a simultaneous start of multiple axes, do not turn ON/OFF the signals by the direct access output (DY). (Refer to Section 9.3.)

7 - 23 7 - 23


7.5.4 Sub program

Speed change program This program is used to change the speed within the " Pr. 5 Speed limit value" range at any point during speed control of speed-position switching control or during JOG operation. Set the new speed in "Cd. 7 New speed value". A speed change is executed according to "Cd. 6 Speed change request". The acceleration and deceleration times after speed change are the values set in "Cd. 8 ACC/DEC time at speed change" and "Cd. 9 DEC/STOP time at speed change". (Refer to "Section 11.3 Speed change function" for details of the speed change function.)

Data requiring setting Set the following data.


Axis 1 Axis 2 Axis 3 Axis 4 Axis 5 Axis 6 Axis 7 Axis 8Cd. 6 Speed change request 1: With speed change 55 155 255 355 455 555 655 755

Cd. 7 New speed value 2000pulse/s 56 57

156 157

256 257

356 357

456 457

556 557

656 657

756 757

Cd. 8 ACC/DEC time at speed change

1000ms 58 158 258 358 458 558 658 758

Cd. 9 DEC/STOP time at speed change

1000ms 59 159 259 359 459 559 659 759


Speed changing timing chart

V

t



2000

010

Positioning complete signal [X(n+1)8 to X(n+1)F]



OFF

OFF

Positioning start signal [Yn8 to YnF] OFFON

ON

ON

ON

OFF

OFF

OFF

OFF

ON

New speed valueCd.7

Speed change requestCd.6


Fig. 7.8 Speed changing timing chart (for speed control of speed-position switching control)

7 - 24 7 - 24


Target position change program This program is used to change the target position at any given timing when the positioning pattern is set to Positioning termination. With a new positioning address/movement amount set in "Cd. 11 Target position change value", turning ON "Cd. 10 Target position change request" will change the target position. (For details on the target position change function, refer to "Section 11.5 Target position change function".)




Cd. 10 Target position change request

1: Target position change 61 161 261 361 431 561 661 761


500000pulse 62 63

162 163

262 263

362 363

462 463

562 563

662 663

762 763


Time chart for target position change

V

t

500000Target position change valueCd.11

010Target position change requestCd.10

OFF

OFF

OFFON

ON

ON

ON

OFF

OFF

OFF

OFF

ON

ON

Dwell time







When the target position is not changed


Fig. 7.9 Time chart for target position change

7 - 25 7 - 25


Restart program

This program is used to resume position control by "Cd. 4 Restart request" from the stop position to the end point of the positioning data when the axis has been stopped by the axis stop signal during operation under position control or speed control of speed-position switching control (excluding position control).



Axis 1 Axis 2 Axis 3 Axis 4 Axis 5 Axis 6 Axis 7 Axis 8Cd. 4 Restart request 1: With restart request 53 153 253 353 453 553 653 753


Start conditions When a restart is to be made, "Md. 4 Axis operation status" must be "1: Stopped" and the following conditions satisfied. (Necessary conditions are included in the sequence program as interlocks.)

Device Signal name Signal state

Axis 1 Axis 2 Axis 3 Axis 4 Axis 5 Axis 6 Axis 7 Axis 8 Programmable controller READY signal

ON Programmable controller CPU ready

Yn0

Module READY signal ON QD70D ready Xn0 Axis error occurrence signal

OFF No error Xn1

Axis stop signal OFF Axis stop signal being OFF Y(n+1)0 Y(n+1)1 Y(n+1)2 Y(n+1)3 Y(n+1)4 Y(n+1)5 Y(n+1)6 Y(n+1)7

Start complete signal OFFStart complete signal being OFF


Inte

rface

sig

nal

BUSY signal OFF QD70D not operating Xn8 Xn9 XnA XnB XnC XnD XnE XnF

Restarting timing chart

0

V

t


1

Dwell time

4 1 4 0

00


Axis stop signal [Y(n+1)0 to Y(n+1)7]





OFF

OFF

OFF

OFF

OFF

OFF

OFF

OFF

ON

ON

ON

ON

ON

ON

ON

Axis operation statusMd.4

Restart requestCd.4


Fig. 7.10 Restarting timing chart (for position control)

7 - 26 7 - 26


MEMO

SECTION 2 CONTROL DETAILS AND SETTING

Section 2 is configured for the following purposes shown in (1) to (3). (1) Understanding of the operation and restrictions of each control. (2) Carrying out the required settings in each control (3) Dealing with errors

The required settings in each control include parameter setting, positioning data setting,control data setting by a sequence program, etc.Carry out these settings while referring to "CHAPTER 4 DATA USED FOR POSITIONING".Also refer to "CHAPTER 7 SEQUENCE PROGRAMS USED IN POSITIONING CONTROL"the sequence programs required in each control, and consider the entire control programconfiguration when creating each program.

CHAPTER 8 OPR CONTROL .............................................................................................8- 1 to 8- 21 CHAPTER 9 POSITIONING CONTROL .............................................................................9- 1 to 9- 18 CHAPTER 10 JOG OPERATION .......................................................................................10- 1 to 10- 6 CHAPTER 11 SUB FUNCTIONS ......................................................................................11- 1 to 11- 17 CHAPTER 12 COMMON FUNCTIONS..............................................................................12- 1 to 12- 3 CHAPTER 13 TROUBLESHOOTING ...............................................................................13- 1 to 13- 16

SEC

TIO

N 2

MEMO

SEC

TIO

N 2

8 - 1 8 - 1

MELSEC-Q8 OPR CONTROL

CHAPTER 8 OPR CONTROL

This chapter details the OPR control of the QD70D.

8.1 Outline of OPR control

8.1.1 Two types of OPR control

"OPR control" is exercised to set up a position (= OP) as a reference for carrying out positioning control. It is used to return a machine system at any position other than the OP to the OP when the QD70D issues a "OPR request"* with the power turned ON or others, or after a positioning control stop. In the QD70D, the following two types of control are defined as "OPR control" in the sequence of OPR operation. Either of these two types of OPR control can be executed by setting the "OPR data", setting "9000" or "9001" in "Cd. 3 Start method", and turning ON the positioning start signal. (1) Establish a positioning control OP

"Machine OPR control" (Start method: 9000) (2) Carry out position control toward the OP

"Fast OPR control" (Start method: 9001).

* The "machine OPR control" in (1) above must always be carried out before executing the "fast OPR control" in (2).

When OPR control is not needed In the system that does not require OPR control, setting "1" in "Cd. 2 OPR request flag OFF request" forcibly turns OFF the "OPR request flag" (Md. 7 Status: b0). When OPR control is not to be exercised, operation starts using the position at power-on (Md. 1 Current feed value) as "0". Also, the "OPR data (OPR. 1 to OPR. 10)" must all be set to the initial values or the values that will not result in an error.

REMARK

OPR request * The "OPR request flag" (Md. 7 Status signal: b0) must be turned ON in the QD70D, and a machine OPR control must be executed in the following cases. • When the power is turned ON • When machine OPR control is started

The "OPR request flag" turns OFF and the "OPR complete flag" (Md. 7 Status signal: b1) turns ON if the machine OPR control is executed and is completed normally.

8

8 - 2 8 - 2


8.2 Machine OPR control

8.2.1 Outline of the machine OPR operation

Important (1) Always set the OP in the same direction as viewed from any position in the

workpiece moving area (set the OP near the upper or lower limit of the machine).

(2) Correctly set the OPR direction as the direction in which the workpiece moves toward the OP.

(3) When the following two conditions hold, operation is performed at the OPR speed since the near-point dog is not detected at a machine OPR control start. • Machine OPR control is started in the position where the near-point dog is

OFF. • The near-point dog does not exist in the OPR direction as seen from the

position where machine OPR control is started. In these cases, use the OPR retry function or JOG operation to move the work to some position before the near-point dog viewing from the OPR direction. (For details on the OPR retry function and JOG operation, refer to Section 8.4 and Chapter 10 respectively.)

(4) In deceleration operation from the OPR speed, the data used as the deceleration time differs between "deceleration made by turning ON the near-point dog" and "deceleration made by turning ON the axis stop signal". (Refer to "Section 4.3 List of OPR data" for details.) Make setting with full consideration given to the influence on the machine.

Machine OPR operation In a machine OPR control, a near-point dog and zero signal are used to establish a machine OP. None of the address information stored in the QD70D, programmable controller CPU, or drive unit is used at this time. The position mechanically established after the machine OPR control is regarded as the "OP" to be the starting point for positioning control. The method for establishing an "OP" by a machine OPR control differs according to the method set in "OPR. 1 OPR method". The following shows the operation when starting machine OPR control.

1) The machine OPR control is started.

2) The operation starts according to the speed and direction set in the OPR data (OPR. 1 to OPR. 9).

3) The "OP" is established by the method set in "OPR. 1 OPR", and the machine stops. (Refer to sections "8.2.2" to "8.2.8")

4) If "a" is set as "OPR. 3 OP address", "a" will be stored as the current position in the "Md. 1 Current feed value" which is monitoring the position.

5) The machine OPR control is completed.

* Refer to "Section 4.3 List of OPR data" for details of OPR data. The "OPR. 3 OP address" is a fixed value set by the user.

MOP

Near-point dog

Machine OPR control

Fig. 8.1 Example of a machine OPR control

8

8 - 3 8 - 3


8.2.2 Machine OPR method

The method by which the machine OP is established (method for judging the OP position and machine OPR completion) is designated in the machine OPR control according to the configuration and application of the positioning control system. The following table shows the six methods that can be used for this OPR method. (The OPR method is one of the items set in the OPR data. It is set in "OPR. 1 OPR method" of the OPR data.)

OPR. 1 OPR method Description

Near-point dog method

Deceleration starts when the near-point dog turns from OFF to ON. (Speed is decreased to "OPR. 5 Creep speed") The axis stops on detection of the first zero signal (one pulse of which is output when the motor turns one revolution, e.g. Zero signal output from the drive unit) after the near-point dog has turned from OFF to ON, and on completion of the deviation counter clear output, machine OPR control is completed.

Stopper 1

The stopper position is defined as the OP. After deceleration is started when the near-point dog turns from OFF to ON, the axis is brought into contact with the stopper at "OPR. 5 Creep speed" to a stop. After the stop, the time preset in "OPR. 9 OPR dwell time" elapses, and on completion of the deviation counter clear output, machine OPR control is completed.

Stopper 2

The stopper position is defined as the OP. After deceleration is started when the near-point dog turns from OFF to ON, the axis is brought into contact with the stopper at "OPR. 5 Creep speed" to a stop. After the stop, the zero signal (signal that is output on detection of contact with the stopper) is detected, and on completion of the deviation counter clear output, machine OPR control is completed.

Stopper 3

The stopper position is defined as the OP. The axis starts at "OPR. 5 Creep speed" from the beginning, and is brought into contact with the stopper at "OPR. 5 Creep speed" to a stop. After the stop, the zero signal (signal that is output on detection of contact with the stopper) is detected, and on completion of the deviation counter clear output, machine OPR control is completed.

Count 1

Deceleration is started when the near-point dog turns from OFF to ON, and the axis moves at "OPR. 5 Creep speed". After the axis has moved the distance preset in "OPR. 8 Setting for the movement amount after near-point dog ON" from the position where the near-point dog turned from OFF to ON, it stops on detection of the zero signal (one pulse of which is output when the motor rotates one revolution, e.g. Zero signal output from the drive unit), and on completion of the deviation counter clear output, machine OPR control is completed.

Count 2

Deceleration is started when the near-point dog turns from OFF to ON, and the axis moves at "OPR. 5 Creep speed". The axis stops after moving the distance preset in "OPR. 8 Setting for the movement amount after near-point dog ON" from the position where the near-point dog turned from OFF to ON, and on completion of the deviation counter clear output, machine OPR control is completed.

Wiring of signals required for each OPR method

OPR method I/O signal

Near-point dog method Stopper 1 Stopper 2 Stopper 3 Count 1 Count 2

Zero signal (PG0) – – Near-point dog (DOG) – Deviation counter clear (CLEAR)

Retry switch signal (RTRY)* – – – : Wiring required : Wiring may be required –: Wiring not required

* The retry switch signal is needed for the OPR retry function. For details, refer to "Section 8.4 OPR retry function".

8 - 4 8 - 4


REMARK

Creep speed The stopping accuracy is poor when the machine suddenly stops from fast speeds. To improve the machine's stopping accuracy, its must change over to a slow speed before stopping. This speed is set in the "OPR. 5 Creep speed".

8 - 5 8 - 5


8.2.3 OPR method (1): Near-point dog method

The following shows an operation outline of the "near-point dog method" OPR method.

Operation chart

1) Machine OPR control is started. (Acceleration starts in the direction set in "OPR. 2 OPR direction" at the time set in "OPR. 6 ACC/DEC time at OPR", and the axis moves at "OPR. 4 OPR speed".)

2) Near-point dog ON is detected and deceleration starts at the time set in "OPR. 6 ACC/DEC time at OPR".

3) The machine decelerates to the "OPR. 5 Creep speed", and subsequently moves at that speed. (At this time, the near-point dog must be ON.)

4) On detection of the first zero signal after near-point dog OFF, the pulse output from the QD70D stops immediately and the "deviation counter clear output" is output to the drive unit. (The "deviation counter clear signal output time" is set in Pr. 8 .)

5) After a "deviation counter clear signal" is output to the drive unit, the OPR complete flag (Md. 7 Status: b1) turns from OFF to ON and the OPR request flag (Md. 7status: b0) turns from ON to OFF.

t

Machine OPR control start(Positioning start signal: Y8 to YF)

ON

OFF

OPR speed Deceleration at the near-point dog ON

Creep speed

ON

OFF

OFF

ON

Standby During OPR StandbyAxis operation status

Unfixed 0Movement amount after near-point dog ON

Unfixed Traveled value is stored OP addressCurrent feed value

V

Zero signal

Value marked

Deviation counter clear output

Movement amount after near-point dog ON

Near-point dog

ON

OFF

One motor rotation

OPR request flag

OPR complete flag

Md.2

Adjust so the near-point dog OFF position isas close as possible to the center of the zerosignal HIGH level.If the near-point dog OFF position overlapswith the zero signal, the machine OPR control stop position may deviate by one motor rotation.

1) 2) 3) 4) 5)

OPR.4

OPR.5

Md.2

Md.1

Md.4

Md.7

Md.7

Deviation counter clear signal output timePr.8

Bias speed at startPr.6

Status: b0

Status: b1

1

1

Fig. 8.2 Near-point dog method machine OPR control

8 - 6 8 - 6


Restrictions A pulse generator with a zero signal is required. When using a pulse generator without a zero signal, generate a zero signal using an external signal. Precautions during operation (1) When the near-point dog is ON at start, an error, "Start during near-point dog

ON" (Error code: 201) occurs. Perform JOG operation to move the axis to the position where the near-point dog turns OFF. If the OPR retry function is used, however, no error will occur. It starts at the creep speed and performs the OPR control. Start the operation at creep speed to perform zero return. (Refer to Fig. 8.2, 3) to 5).)

(2) The near-point dog must be ON during deceleration from "OPR. 4 OPR speed" "OPR. 5 Creep speed". The following is the operation performed if the near-point dog turns OFF before deceleration to the creep speed.

t

ON

OFF

OPR speed

Creep speed

ON

OFF

OFF

ON

Standby During OPR Standby

Unfixed 0

Unfixed Traveled value is stored OP address

V

Zero signal

Value marked

Deceleration started when near-point dog turns ON

Near-point dogON

OFF

One motor revolution

Md.2

OPR.4

OPR.5




Near-point dog turns OFF during deceleration


Axis operation status


Current feed value


OPR request flag

OPR complete flag

Md.2

Md.1

Md.4

Md.7

Md.7 Status: b0

Status: b1

1

1

Fig. 8.3 Operation when the near-point dog is turned OFF before the creep speed is reached

8 - 7 8 - 7


(3) If the axis stop signal is turned ON during operation performed at "OPR. 4 OPR speed", the axis decelerates to a stop at the time set in "OPR. 7 DEC/ STOP time at OPR".

8 - 8 8 - 8


8.2.4 OPR method (2): Stopper 1

The following shows an operation outline of the "stopper 1" OPR method.

Operation chart

1) Machine OPR control is started. (Acceleration starts in the direction set in "OPR. 2 OPR direction" at the time set in "OPR. 6 ACC/DEC time at OPR", and the axis moves at "OPR. 4OPR speed".)

2) Near-point dog ON is detected and deceleration starts at the time set in "OPR. 6ACC/DEC time at OPR".

3) Speed is reduced to "OPR. 5 Creep speed" and the axis then moves at the creep speed. (At this time, the motor torque must be limited. If the torque is not limited, the motor may fail at 4.)

4) The machine presses against the stopper at the creep speed and stops.

5) When "OPR. 9OPR dwell time" elapses after near-point dog ON, the pulse output from the QD70D stops immediately and the "deviation counter clear output" is output to the drive unit. (The "deviation counter clear signal output time" is set in Pr. 8 .)

6) After a "deviation counter clear output" is output to the drive unit, the OPR complete flag (Md. 7Status: b1) turns from OFF to ON, and the OPR request flag (Md. 7Status: b0) turns from ON to OFF.

Range in which the motor rotationis forcibly stopped by the stopper

t

ON

OFF

Torque limit

Time out of OPR dwell time

ON

OFF

OFF

ON

V

Near-point dogON

OFF

1) 2) 3) 4) 5) 6)

Pr.6Stopper

OPR dwell time measurement




Current feed value


OPR request flag

OPR complete flag

Md.2

Md.1

Md.4

Md.7

Md.7 Status: b0

Status: b1


Unfixed 0



OPR speedOPR.4Deceleration at the near-point dog ON

Creep speedOPR.5

Bias speed at start

Fig. 8.4 Stopper 1 machine OPR control

8 - 9 8 - 9


Restrictions (1) Always limit the motor torque after the "OPR. 5 Creep speed" is reached. If the

torque is not limited, the motor may fail when the machine presses against the stopper. (Refer to section "12.4.2 Torque limit function".) (For a torque limit, refer to the manual of the drive unit used.)

Precautions during operation (1) Set a value in the "OPR. 9 OPR dwell time" that is equal to or higher than the

movement time from the near-point dog ON to the time the machine presses against the stopper.

(2) The following is the operation performed if "OPR. 9 OPR dwell time" elapses during deceleration from "OPR. 4 OPR speed".

V

ON

OFF

ON

OFF

OFF

ON

Pr.8


OPR speedOPR.4 Deceleration started when near-point dog turns ON

t

Creep speedOPR.5

Stopper

Dwell time-out during deceleration

Torque limit

OPR dwell time-outNear-point dog

ON

OFF

OPR dwell time counting




Current feed value


OPR request flag

OPR complete flag

Md.2

Md.1

Md.4

Md.7

Md.7 Status: b0

Status: b1


Unfixed 0


Deviation counter clear signal output time

Fig. 8.5 Operation when the dwell time elapses during deceleration from the OPR speed

(3) If the axis is started during near-point dog ON, it starts at "OPR. 5 Creep

speed". (4) If the axis stop signal is turned ON during operation performed at "OPR. 4

OPR speed", the axis decelerates to a stop at the time set in "OPR. 7 DEC/ STOP time at OPR".

8 - 10 8 - 10



The following shows an operation outline of the "stopper 2" OPR method.

Operation chart


2) Near-point dog ON is detected and deceleration starts at the time set in "OPR. 6 ACC/DEC time at OPR".

3) Speed is reduced to "OPR. 5 Creep speed" and the axis then moves at the creep speed. (At this time, the motor torque must be limited. If the torque is not limited, the motor may fail at 4.)


5) On detection of the zero signal after the stop, the pulse output from the QD70D stops immediately and the "deviation counter clear output" is output to the drive unit. (The "deviation counter clear signal output time" is set in Pr. 8 .)

6) After a "deviation counter clear output" is output to the drive unit, the OPR complete flag (Md. 7 Status: b1) turns from OFF to ON, and the OPR request flag (Md. 7 Status: b0) turns from ON to OFF.

t


ON

OFF

OPR speed

Creep speed

Torque limit

ON

OFF

OFF

ON



Traveled value is stored OP addressCurrent feed value

V

Near-point dogON

OFF

Stopper

Zero signal


OPR request flag

OPR complete flag

Status: b0Md.7

Md.4

Md.2

Md.1

OPR.4

OPR.5

1) 2) 3) 4) 5) 6)



Deceleration at the near -point dog ON

Status: b1Md.7

Unfixed


8 - 11 8 - 11


Restrictions (1) Always limit the motor torque after the "OPR. 5 Creep speed" is reached. If the

torque is not limited, the motor may fail when the machine presses against the stopper. (For a torque limit, refer to the manual of the drive unit used.)

(2) Use an external input signal as the zero signal.

Precautions during operation (1) Input a zero signal from an external source after the machine presses against

the stopper. The following is the operation performed if the zero signal is input before deceleration to "OPR. 5 Creep speed".

t


ON

OFF

OPR speed

Creep speed

Torque limit

ON

OFF

OFF

ON



Traveled value is stored OP addressCurrent feed value

V

Near-point dogON

OFF

Stopper

Zero signal


OPR request flag

Status: b0Md.7

Md.4

Md.2

Md.1

OPR.4

OPR.5


Zero signal input during deceleration


Deceleration started when near-point dog turns ON

OPR complete flag

Status: b1Md.7

Unfixed

Fig. 8.7 Operation performed if zero signal is input before deceleration to creep speed

(2) The near-point dog must be turned ON until it presses against the stopper. (3) If the axis is started during near-point dog ON, it starts at "OPR. 5 Creep

speed". (4) If the axis is started during zero signal ON, the "Zero signal ON" error (error

code: 202) occurs. (5) If the axis stop signal is turned ON during operation performed at "OPR. 4

OPR speed", the axis decelerates to a stop at the time set in "OPR. 7 DEC/ STOP time at OPR".

8 - 12 8 - 12



The following shows an operation outline of the "stopper 3" OPR method. The "stopper 3" method is effective when a near-point dog has not been installed. (Note that the operation is carried out from the start at the "OPR. 5 Creep speed", so it will take some time until the machine OPR control completion.)

Operation chart

1)

Machine OPR control is started. (Acceleration starts in the direction set in "OPR. 2 OPR direction" at the time set in "OPR. 6 ACC/DEC time at OPR", and the axis moves at "OPR. 5 Creep speed". At this time, the motor torque must be limited. If the torque is not limited, the motor may fail at 2.)


3) On detection of the zero signal after the stop, the pulse output from the QD70D stops immediately and the "deviation counter clear output" is output to the drive unit. (The "deviation counter clear signal output time" is set in Pr. 8 .)



t

ON

OFF

ON

OFF

OFF

ON

V

Creep speed

Torque limit

Zero signal

Stopper

Standby Standby

0

OP address

OPR.5

Pr.8Deviation counter clear output



Current feed value

OPR request flag

Status: b0Md.7

Md.4

Md.2

Md.1

Bias speed at startPr.61) 2) 3) 4)

OPR complete flag

Status: b1Md.7

Unfixed

Standby

During OPR

Traveled value is stored

Deviation counter clear signal output time


8 - 13 8 - 13


Restrictions (1) Always limit the motor torque.

If the torque is not limited, the motor may fail when the machine presses against the stopper. (For a torque limit, refer to the manual of the drive unit used.)

(2) Use an external input signal as the zero signal.

Precautions during operation (1) If the zero signal is input before the workpiece stops at the stopper, the

workpiece will stop at that position, and that position will become the OP.


Creep speed

t

ON

OFF

ON

OFF

OFF

ON

V

Torque limit

Zero signal

Standby Standby

0

OP address

OPR.5






Current feed value

OPR request flag

Status: b0Md.7

Md.4

Md.2

Md.1

OPR complete flag

Status: b1Md.7

During OPR

Unfixed

Unfixed Traveled value is stored

Fig. 8.9 When the zero signal is input before the stop at the stopper

(2) If the axis is started during zero signal ON, the "Zero signal ON" error (error

code: 202) occurs.

8 - 14 8 - 14


8.2.7 OPR method (5): Count 1

The following shows an operation outline of the "count 1" OPR method.

Operation chart


2) Near-point dog ON is detected and deceleration starts at the time set in "OPR. 6 ACC/DEC time at OPR". 3) The machine decelerates to the "OPR. 5 Creep speed", and subsequently moves at that speed.

4)

On detection of the first zero signal after the axis has traveled the movement amount set in "OPR. 8 Setting for the movement amount after near-point dog ON" after near-point dog ON, the pulse output from the QD70D stops immediately and the "deviation counter clear output" is output to the drive unit. (The "deviation counter clear signal output time" is set in Pr. 8 .)

5) After a "deviation counter clear output" is output to the drive unit, the OPR complete flag (Md. 7 Status: b1) turns from OFF to ON, and the OPR request flag (Md. 7Status: b0) turns from ON to OFF.

t


ON

OFF

OPR speed

ON

OFF

OFF

ON



Unfixed Traveled value is stored OP addressCurrent feed value

V

Zero signal

Value marked



Near-point dogON

OFF

Setting for the movement amountafter near-point dog ON

Creep speed

Leave sufficient distance from the OPposition to the near-point dog OFF

OPR request flag

OPR complete flag

Status: b0Md.7

Md.4


Md.2

Md.1

OPR.4

OPR.5

OPR.8

Md.2

One motor rotation

Adjust the setting for the movement amount after near-point dog ON to be as near as possible to the center of the zero signal HIGH.If the setting for the movement amount afternear-point dog ON falls within the zero signal, there may be produced an error of one motor rotation in the machine OPR control stop position.


Deceleration at the near-point dog ON

1) 2) 3) 4) 5)

Status: b1Md.7

1

1

First zero signal after movement by the valueset to " OPR. 8 Setting for the movementamount after near-point dog ON"

Fig. 8.10 Count 1 machine OPR control

8 - 15 8 - 15


Restrictions A pulse generator with a zero signal is required. When using a pulse generator without a zero signal, generate a zero signal using an external signal. Precaution during operation (1) If "OPR. 8 Setting for the movement amount after near-point dog ON" is less

than the deceleration distance from "OPR. 4 OPR speed" to "OPR. 5 Creep speed", machine OPR control is completed normally.

(2) When the near-point dog is ON at start, an error, "Start during near-point dog ON" (Error code: 201) occurs. Perform JOG operation to move the axis to the position where the near-point dog turns OFF. Refer to Section 8.4 OPR retry function.


8 - 16 8 - 16


8.2.8 OPR method (6): Count 2

The following shows an operation outline of the "count 2" OPR method. The "count method 2)" method is effective when a "zero signal" cannot be received.

Operation chart


2) Near-point dog ON is detected and deceleration starts at the time set in "OPR. 6 ACC/DEC time at OPR". 3) The machine decelerates to the "OPR. 5 Creep speed", and subsequently moves at that speed.

4)

As soon as the axis has traveled the movement amount set in "OPR. 8 Setting for the movement amount after near-point dog ON" after near-point dog ON, the pulse output from the QD70D stops (at this time, the axis decelerates to a stop from "OPR. 5 Creep speed" at the time set in "OPR. 7 DEC/STOP time at OPR") and the "deviation counter clear output" is output to the drive unit. (The "deviation counter clear signal output time" is set in Pr. 8 .)


t

OPR speedV


Creep speed


ON

OFF

ON

OFF

ONOFF

Leave sufficient distance from the OP position to the near-point dog OFF



Current feed value

OFF

OPR request flag

OPR complete flag

Status: b0Md.7

Md.4

Md.2

Md.1

OPR.4

OPR.5

OPR.8

Md.2

Deceleration at the near-point dog ON


Deviation counter clear signal output timePr.8Deviation counter clear output

1) 2) 3) 4) 5)

Setting for the movement amount after near-point dog ON

Near-point dog

Status: b1Md.7

Standby During OPR

Unfixed 0

Unfixed Traveled value is stored

Standby

OP address

Value marked 1

1

ON

Fig. 8.11 Count 2 machine OPR control

8 - 17 8 - 17


Precaution during operation (1) If "OPR. 8 Setting for the movement amount after near-point dog ON" is less

than the deceleration distance from "OPR. 4 OPR speed" to "OPR. 5 Creep speed", machine OPR control is completed normally.

(2) When the near-point dog is ON at start, an error, "Start during near-point dog ON" (Error code: 201) occurs. Perform JOG operation to move the axis to the position where the near-point dog turns OFF. Refer to Section 8.4 OPR retry function.


8 - 18 8 - 18


8.3 Fast OPR control

8.3.1 Outline of the fast OPR control operation

Fast OPR operation In a fast OPR control, positioning control is carried out by a machine OPR control to the "Md. 1 Current feed value" stored in the QD70D. By setting "9001" in "Cd. 3 Start method" and turning ON the positioning start signal (Y8 to YF), fast OPR control performs position control at high speed without using the positioning data and near-point dog, zero and other signals. The following is the operation performed at a fast OPR control start. 1) Set "9001" in "Cd. 3 Start method" and turn ON the positioning start signal (Y8

to YF). 2) Position control is started to reach "Md. 1 Current feed value" according to the

OPR data (OPR. 1 to OPR. 10) defined when machine OPR control was carried out.

3) Fast OPR control is completed.

OPR.4 OPR speed

Position set up by machine OPR control(OP)

Fast OPR control start(Positioning start signal: Y8 to YF)

Md.4 Axis operation status Standby Fast OPR in progress

MOPPosition control to OP

Pr.6 Bias speed at start

Standby

Fig. 8.12 Fast OPR control

Precautions for operation (1) Start fast OPR control after setting up the machine OP by exercising machine

OPR control. If fast OPR control is started without machine OPR control being exercised, the "Machine OPR not execute" error (error code: 203) will occur.

(2) In fast OPR control, the "OPR compete flag" (Md. 7 Status: b1) and "Md. 2 Movement amount after near-point dog ON" are unchanged.

(3) On completion of fast OPR control, "OPR. 3 OP address" is not stored into "Md. 1 Current feed value".

8 - 19 8 - 19


8.4 OPR retry function

The work may not move toward the original point even if machine zero return is attempted, depending on the work position such as a case where the work has passed the original point in positioning control. If this occurs, usually, the work must be moved to a position before the near-point dog by JOG operation and machine zero return must be restarted. Using the OPR retry function enables machine zero return wherever the work is located.

Descriptions on "The OPR retry function" are given in the following:

[1] Control details [2] Precautions [3] The OPR retry function setting

8 - 20 8 - 20


[1] Control details The operation by the OPR retry function is shown below.

(1) When the work is at a position beyond the near-point dog and before the Retry switch 1) Start the machine OPR to move the work in the "OPR. 2 OPR direction". 2) The Retry switch signal turns ON, and the movement is decelerated and stopped.* 3) At "OPR. 4 OPR speed", move the work in a direction opposite to "OPR. 2 OPR direction". 4) Decelerate and stop it by turning OFF the near-point dog.* 5) Perform the machine zero return in the direction of "OPR. 2 OPR direction". * In steps 2) and 4), when the time set in "OPR. 9 OPR dwell time" has elapsed after

deceleration stop, the next action is started.

OP

ON

V

L

Near pointdog Retry switch

Startingpoint

1)

2)

3)

4)

5)

ON (2) When the work is positioned on the near-point dog (ON)

1) Start the machine zero return to move the work in a direction opposite to "OPR. 2 OPR direction" at "OPR. 4 OPR speed".

2) The near-point dog turns OFF, and the movement is decelerated and stopped*. 3) Perform the machine zero return in the "OPR. 2 OPR direction". * In step 2), when the time set in "OPR. 9 OPR dwell time" has elapsed after deceleration stop,

the next action is started.

ON

V

L

Near pointdog

1)

2)

3)OPStarting

point

Fig. 8.13 OPR retry operation

8 - 21 8 - 21


[2] Precautions (1) In the OPR retry function, the Retry switch (RTRY) is used to detect the work

position when it has gone beyond the original point. Note that, while this function is used, turning ON the speed-position switching signal (CHG) is recognized as turning ON the Retry switch signal.

(2) Place the Retry switch in a position beyond the original point viewing from the "OPR. 2 OPR direction". Also, keep an adequate distance between the Retry switch and the near-point dog switch so that both ON areas are not overlapped. If both the near-point dog signal and the Retry switch signal turn ON, a "Retry signal ON error" (Error code: 204) may occur.

(3) The OPR retry function is enabled in the following: • Near-point dog method • Count 1 • Count 2

[3] The OPR retry function setting

To use the OPR retry function, set the following parameters and write them to the QD70D.

Setting item Setting value Setting details Factory – set initial value

OPR. 9 OPR dwell time Set a stop time for deceleration stop during the OPR retry. (Any value within the range from 0 to 65535 [ms]*)

0

OPR. 10 OPR retry 1 Set "1: Enable the OPR retry". 0

*: In setting on a sequence program, enter the setting value as follows: 0 to 32767 : Enter in decimal format 32768 to 65535 : Convert into hexadecimal

9 - 1 9 - 1

MELSEC-Q9 POSITIONING CONTROL

CHAPTER 9 POSITIONING CONTROL

This chapter details the positioning control (control functions using positioning data) of the QD70D.

9.1 Outline of positioning controls

"Positioning control" uses the "positioning data" stored in the QD70D. Position control, speed-position switching control and current value changing are executed by setting the necessary items of these "positioning data". As the control method of "positioning control", set the " Da. 2 Control method" setting item of the positioning data. Any of the following controls can be defined as "positioning control" depending on the setting of " Da. 2 Control method".

Positioning control

Da. 2 Control method Description


1-axis linear control (ABS) 1-axis linear control (INC)

Using the specified one axis, positioning control is exercised from the starting point address (current stop position) to the specified position.



Speed control is first carried out, and the "speed-position switching signal" is then turned ON to perform position control (positioning control of the specified movement amount).

Current value changing Current value changing The current feed value (Md. 1) is changed to the address set to the positioning address.

9.1.1 Data required for positioning control

The following table shows an outline of the "positioning data" configuration and setting details required to carry out the "positioning controls".

Setting item Setting details

Da. 1 Operation pattern Set how consecutive positioning data (example: positioning data No. 1, No. 2, No. 3 ...) will be controlled. (Refer to Section 9.1.2.)

Da. 2 Control method Set the control method defined for "positioning control". (Refer to Section 9.1.) Da. 3 ACC/DEC time Set the acceleration/deceleration time for positioning control. Da. 4 DEC/STOP time Set the deceleration stop time for positioning control. Da. 5 Command speed Set the speed for exercising control.

Da. 6 Positioning address/ movement amount

Set the target value or movement amount for position control, or the movement amount or new current value for position control of speed-position switching control. (Refer to Section 9.1.3.)

Posi

tioni

ng d

ata

Da. 7 Dwell time Set the time taken from when the workpiece has stopped on completion of position control until the QD70D judges completion of position control.

* The setting details of Da. 1 to Da. 7 vary with " Da. 2 Control method" in whether setting is required or not and details. (Refer to "Section 9.2 Setting the positioning data".)

REMARK

• 10 pieces of the positioning data (positioning data No. 1 to 10) can be set per axis.

9

9 - 2 9 - 2


9.1.2 Operation patterns of positioning controls

"Positioning control" starts with positioning data No. 1 and allows you to set in " Da. 1 Operation pattern" whether the subsequent consecutive data will be executed continuously or not. There are the following three different "operation patterns" [1] to [3].

• Termination [1] Positioning termination (operation pattern: 0) • Continuation [2] Continuous positioning control (operation pattern: 1)

[3] Continuous path control (operation pattern: 2) The following shows examples of operation patterns when "1-axis linear control (ABS)" is set in positioning data No. 1 to No. 6 of axis 1. Details of each operation pattern are shown on the following pages. <Operation example when "1-axis linear control (ABS)" is set in the

positioning data of axis 1>

(Direction in which axis 1 addresses increase) 1-axis linear control (ABS)

(One motor is driven, and positioning control is carried out to an addresses designated in one direction.)

Speed

Positioning data No.1

0

Operation pattern = 2: Continuous path control Positioning control to address [A] at command speed [a]

No.2

No.3

No.4

No.5

Address

a

b

NO.1 No.2 No.3 No.4 No.5

Speed is changedwithout stopping

The machine stops, and then continues the nextpositioning control.

Positioning control is terminated

No.6Control stop

11

11

01

01

00

Time

Da.1 Operation pattern

(Positioning data)

(Setting details)

Positioning control to address [C] at command speed [a]

Positioning control to address [D] at command speed [b]

Positioning control to address [E] at command speed [a]

Positioning control to address [F] at command speed [a]

Positioning control to address [B] at command speed [b] Operation pattern = 2: Continuous path control

Operation pattern = 1: Continuous positioning control

Operation pattern = 0: Positioning termination

Operation pattern = 2: Continuous path control

Operation pattern = 1: Continuous positioning control

A EDCB F

For

Start

POINT • To start from an arbitrary positioning data, set a desired positioning data No. ("1

to 10") in "Cd. 3 Start method". (If "0" is set, the operation will start from positioning data No.1.)

• The BUSY signal [Xn8 to XnF] turns ON even when position control of movement amount 0 is executed. However, since the ON time is short, the ON status may not be detected in the sequence program.

9

9 - 3 9 - 3


[1] Positioning termination

Set this to carry out only the positioning control of the specified one piece of data. When the dwell time has been specified for position control, position control is completed after the specified time has elapsed.

Time

Positioning start signal [Yn8 to YnF] OFFON

Dwell time

Start complete signal [X(n+1)0 to X(n+1)7] OFFON

BUSY signal [Xn8 to XnF] OFFON

Positioning complete signal [X(n+1)8 to X(n+1)F] OFFON

Positioning termination (0)V

Fig. 9.1 Operation at positioning termination

9 - 4 9 - 4


[2] Continuous positioning control

(1) The machine always automatically decelerates each time the positioning

control is completed. Acceleration is then carried out after the QD70D command speed reaches 0 to carry out the next positioning data operation. When the dwell time has been specified for position control, acceleration is started after specified time has elapsed.

(2) In operation by continuous positioning control (operation pattern "1"), the

next positioning data No. is automatically executed. Always set operation pattern "0" in the last positioning data to terminate the positioning control. If the operation pattern is set to continue ("1" or "2"), the operation will continue until operation pattern "0" is found. If the operation pattern "0" cannot be found, the operation may be carried out until the positioning data No. 10. If the operation pattern of the positioning data No. 10 is not terminated, the operation will be started again from the positioning data No. 1.

Time

OFFON

OFFON

OFFON

OFF

Continuous positioning control (1)

Address (+) direction

Address (-) direction

Continuous positioning control (1)

Positioning termination (0)

Dwell time

ON

Dwell time not specified




Positioning complete signal [X(n+1)8 to X(n+1)F] Fig. 9.2 Operation during continuous positioning control

POINT

The "Insufficient movement amount" warning (warning code: 41) occurs if the movement amount of the currently executed positioning data is too small to reserve the calculation processing time (approx. 2ms) of the next positioning data in the operation pattern of "1: Continuous positioning control". The execution of the next positioning data is started on completion of the calculation. (The axis remains stopped until the calculation is completed. However, the BUSY signal does not turn OFF.) In this case, the warning can be avoided by adding 2ms to the setting value of " Da. 7 Dwell time".

9 - 5 9 - 5


[3] Continuous path control (1) Operation of continuous path control

(a) A speed change is made between the command speeds of the "positioning data No. currently executed" and "positioning data No. to be executed next" without a deceleration stop. A speed change is not made if the current speed is equal to the next speed.

(b) Dwell time will be ignored, even if set.

(c) In operation performed by continuous path control (operation pattern "2"),

the positioning control of the next data No. is automatically exercised. Always set the operation pattern "0" in the last positioning data to terminate the positioning control. If the operation pattern is continuation ("1" or "2"), operation will continue until the operation pattern "0" is found. If the operation pattern "0" is not found, operation is performed up to the positioning data No. 10. If the operation pattern of the positioning data No. 10 is not terminated, operation is started again from the positioning data No. 1.

(d) A speed change at positioning data No. switching is made at the beginning

of the next positioning control.

Time

OFFON

OFFON

OFFON

OFF

Continuous path control (2)

Address (+) direction

Address (-) direction

Continuous path control (2)

Positioning termination (0)

Dwell time

ON




Positioning complete signal [X(n+1)8 to X(n+1)F] Fig. 9.3 Operation for continuous path control

9 - 6 9 - 6


(2) Errors

If any of the following errors occurs during operation in the operation pattern of "2: Continuous path control", the axis stops immediately on completion of executing the previous positioning data. (a) The moving direction in the currently executed positioning data differs from

the moving direction in the next positioning data "Illegal direction for continuous path control" error (error code: 510)

(b) The movement amount to be executed in the next positioning data is small

and a constant-speed status does not exist. "Insufficient movement amount for continuous path control" error (error code: 511)

(c) The movement amount in the currently executed positioning data is small

and the calculation of the next positioning data cannot be performed until completion of positioning control. "Not complete calculation for continuous path control" error (error code: 512)

POINT

In the positioning data whose operation pattern is "2: Continuous path control", set " Da. 5 Command speed" and " Da. 6 Positioning address/movement amount" so that the execution time of that data is 2ms or more and a constant-speed part is formed.

t

V

Da.5




Da.6

2ms or more

(3) Speed changing (a) If the command speed of the "positioning data currently executed" differs

from that of the "positioning data to be executed next", acceleration or deceleration is made on completion of the positioning control of the "positioning data currently executed" to switch to the speed set in the "positioning data to be executed next".

(b) The acceleration/deceleration processing to the command speed set in the

"positioning data to be executed next" uses " Da. 3 ACC/DEC time" set in the "positioning data to be executed next". When the command speeds are the same, speed changing is not made. (For details, refer to "Section 4.5 List of positioning data".)

9 - 7 9 - 7


OFF

ON

OFF

ON

OFF

ON

OFF

ON

Positioning control

Operation pattern 2 2 2 1 0

V Dwell time

t

Speed changing Dwell time

Da. 1





Fig. 9.4 Speed changing operation

(4) Stopping method for continuous path control

When the axis stop signal is input during operation in the operation pattern of "2: Continuous path control", select the stopping method in "Pr. 10 Stop mode during path control". (For details, refer to "Section 4.2 List of parameters".)

Continuous operation of more than 10 pieces of positioning data Since the number of positioning data that can be executed by the QD70D axis-by-axis is up to 10 pieces, perform continuous operation of more than 10 pieces of data in the following procedure.

1) Initial setting Set "1: Continuous positioning control" or "2: Continuous path control" in " Da. 1 Operation pattern" of positioning data No. 1 to No. 10.

2) Positioning data rewrite during operation During operation, read "Md. 9 Executing positioning data No." and rewrite the positioning data of the "read value - 1" No. (However, when "Md. 9 Executing positioning data No." is "1", rewrite the positioning data No. 10. (Refer to "Section 4.6 List of monitor data" for details of "Md. 9 Executing positioning data No.".)

POINT

When the time required to execute the positioning data No. 1 to No. 10 continuously is assume to be "a", a maximum of delay "a" will occur if "a" is small, until the new positioning data is made valid. Hence, set " Da. 5 Command speed" and " Da. 6 Positioning address/movement amount" so that the execution time of each positioning data is 2ms or more.

9 - 8 9 - 8


9.1.3 Designating the positioning address

The following shows the two methods for commanding the position in control using positioning data.

Absolute system Positioning control is carried out to a designated position (absolute address) having the OP as a reference. This address is regarded as the positioning address. (The start point can be anywhere.)

Address100 Address

150 Address300

100A point

150B point

300C point

Within the stroke limit range

Address 150

Address100

Address 100Address 150

OP(Reference point)

Start point End point

Fig. 9.5 Absolute system positioning control

Incremental system The position where the machine is currently stopped is regarded as the start point, and positioning control is carried out for a designated movement amount in a designated movement direction.

Movement amount+100

Movementamount -150

Movement amount-100

Movement amount+50

100 150 300

Movement amount-100

A point B point

Within the stroke limit range

C point

Movement amount+100

Movement amount +100

Start point End point

OP(Reference point)

Fig. 9.6 Incremental system positioning control

9 - 9 9 - 9


9.1.4 Confirming the current value

Values showing the current value The following address is used as value to show the position in the QD70D. This address (current feed value) is stored in the monitor data area, is used in monitoring the current value display, etc.

Current feed value

• This is the value stored in "Md. 1 Current feed value". • This value has an address established with a "machine OPR control" as a

reference, but the address can be changed by changing the current value to a new value.

• Update timing QD70D4: 1ms QD70D8: 2ms

0 1Current feed value

t

V

OP

20000

Current value is changed to 20000 by current value changing.

Address after current value changing is stored.

10000Md.1 to Fig. 9.7 Current feed value

Restrictions

1) If the "current feed value" stored is used for control, an error of 1ms (for the QD70D4) or 2ms (for the QD70D8) is produced at the update timing of the current value.

2) The "current feed value" is controlled by a signed numerical value. (Range: -2147483648 to 2147483647 pulse) Hence, continuation of counting up will cause an overflow and continuation of counting down will cause an underflow. Normal operation cannot be performed in an overflow or underflow status. If there is a possibility of an overflow or underflow, set the software stroke limit function valid. (Refer to "Section 11.4 Software stroke limit function" for details.)

Monitoring the current value The "current feed value" is stored in the following buffer memory address, and can be read using a "DFRO (P) command" from the programmable controller CPU.

Buffer memory addresses Axis 1 Axis 2 Axis 3 Axis 4 Axis 5 Axis 6 Axis 7 Axis 8

Md. 1 Current feed value 70 71

170 171

270 271

370 371

470 471

570 571

670 671

770 771

Example

* Program in which the axis 1 current feed value is read to D104 and D105*

<Read current feed value to D104 and D105>

9 - 10 9 - 10


9.2 Setting the positioning data

9.2.1 Relation between each control and positioning data

The setting requirements and details for the setting items of the positioning data to be set differ according to the " Da. 2 Control method". The following are the setting items of the positioning data for each control. Refer to Section 9.2.2 and later for operation details and setting of each control. Positioning control

Positioning data setting item Position control



Positioning termination Continuous positioning control Da. 1

Operation pattern


Da. 2 Control method 1-axis linear control (ABS)1-axis linear control (INC)



Da. 3 ACC/DEC time – Da. 4 DEC/STOP time – Da. 5 Command speed –


Change destination

address Da. 7 Dwell time : Always set : Set as required ("–" when not set) : Setting not possible (If setting is made, an error (error code 502: New current value change not possible, error code

503: Continuous path control not possible) will occur at a start.) – : Setting not required (Setting value is invalid. Use the initial values or setting values within a range where no error

occurs.)

9 - 11 9 - 11


9.2.2 1-axis linear control

In "1-axis linear control" (" Da. 2 Control method" = 1-axis linear control (ABS), 1-axis linear control (INC), one motor is used to carry out position control in a set axis direction.

[1] 1-axis linear control (ABS linear 1)

Operation chart In absolute system 1-axis linear control, addresses established by a machine OPR control are used. Position control is carried out from the current stop position (start point address) to the address (end point address) set in " Da. 6 Positioning address/movement amount".

0 1000 8000

Positioning control (movement amount 7000)

Start point address(current stop position)

End point address(positioning address)

Example

When the start point address (current stop position) is 1000, and the end point address (positioning address) is 8000,position control is carried out in the positive direction for a movement amount of 7000 (8000-1000)

Positioning data setting example The following table shows setting examples when "1-axis linear control (ABS)" is set in positioning data No. 1 of axis 1.

Setting item Setting example Setting details

Da. 1 Operation pattern Positioning termination

Set "Positioning termination" assuming the next positioning data will not be executed.

Da. 2 Control method 1-axis linear control (ABS) Set absolute system 1-axis linear control.

Da. 3 ACC/DEC time 1000ms Set the acceleration/deceleration time for position control. Da. 4 DEC/STOP time 1000ms Set the deceleration stop time for position control. Da. 5 Command speed 50000pulse/s Set the speed during movement to the positioning address.

Da. 6 Positioning address/movement amount 8000pulse Set the positioning address.

Axis

1 p

ositi

onin

g da

ta N

o. 1

Da. 7 Dwell time 500ms Set the time the machine dwells after the position control stop (pulse output stop) to the output of the positioning complete signal.

* Refer to "Section 4.5 List of positioning data" for the setting details.

9 - 12 9 - 12


[2] 1-axis linear control (INC)

Operation chart In incremental system 1-axis linear control, addresses established by a machine OPR control are used. Position control is carried out from the current stop position (start point address) to a position at the end of the movement amount set in " Da. 6 Positioning address/movement amount". The movement direction is determined by the sign of the movement amount.

Reverese direction Forward direction

Start point address(current stop position)

Movement direction fora negative movement amount

Movement direction fora positive movement amount

-3000 -2000 5000

Positioning control in the reverse direction (movement amount -7000)

Address after positioning control Start point address(current stop position)

-1000 0 1000 2000 3000 4000 6000

Example

When the start point address is 5000, and the movement amount is -7000, position control is carried out to the -2000 position.

Positioning data setting example The following table shows setting examples when "1-axis linear control (INC)" is set in positioning data No. 1 of axis 1.



Set "Positioning termination" assuming the next positioning data will not be executed.

Da. 2 Control method 1-axis linear control (INC) Set incremental system 1-axis linear control.

Da. 3 ACC/DEC time 1000ms Set the acceleration/deceleration time for position control. Da. 4 DEC/STOP time 1000ms Set the deceleration stop time for position control. Da. 5 Command speed 50000pulse/s Set the speed during movement.

Da. 6 Positioning address/movement amount -7000pulse Set the movement amount.

Axis

1 p

ositi

onin

g da

ta N

o. 1

Da. 7 Dwell time 500ms Set the time the machine dwells after the position control stop (pulse output stop) to the output of the positioning complete signal.


9 - 13 9 - 13


9.2.3 Speed-position switching control

In "speed-position switching control" (" Da. 2 Control method" = Speed. Position Ctrl.

(Forward), Speed. Position Ctrl. (Reverse)), the pulses of the speed set in " Da. 5

Command speed" are kept output on the axial direction set to the positioning data. When the "speed-position switching signal" is input, position control of the movement amount set in " Da. 6

Positioning address/movement amount" is exercised. "Speed-position switching control" is available in two different types: ": Speed. Position Ctrl. (Forward)" which starts the axis in the forward direction and " Speed. Position Ctrl. (Reverse)" which starts the axis in the reverse direction.

Switching over from speed control to position control (1) The control is switched over from speed control to position control by the

external signal "speed-position switching signal (CHG)". (2) To switch from speed control to position control, "Cd. 5 Speed-position

switching request" must be turned ON in addition to the setting of the positioning data. If "Cd. 5 Speed-position switching request" and the speed-position switching signal are ON at a start, only position control is carried out.

Operation chart The following chart shows the operation timing for speed-position switching control.

t

V

Positioning start signal[Y8 to YF]

OFFON

Command speed

BUSY signal[X8 to XF]

OFFON

Positioning complete signal[X18 to X1F]

OFFON

Speed-position switching signal(CHG)

OFFON

Speed control Position control Dwell time

Speed-position switching request OFFON

Cd.5

Da.5Da.6Movement amount set in "

Positioning address/movement amount"

Pr.6 Bias speed at start

Fig. 9.8 Speed-position switching control operation timing

9 - 14 9 - 14


Current feed value during speed-position switching control (INC mode) The following table shows the "Md. 1 Current feed value" during speed-position switching control corresponding to the " Pr. 4 Current feed value during speed control" settings.

"Pr. 4 Current feed value during speed control" setting


0: No update The current feed value at control start is maintained during speed control, and updated from the switching to position control.

1: Update The current feed value is updated during speed control and position control.

2: Clear to 0 and no update The current feed value is cleared (set to "0") at control start, and updated from the switching to position control.

t

0 Updated from 0

t

Speed

t

Position control

Maintained Updated

Speed control Speed Position control Speed control Speed Position control Speed control

Updated

(a) Current feed value not updated (b) Current feed value updated (c) Current feed value zero cleared

Speed-position switching signal setting Set the following item to use the speed-position switching signal "CHG".

Buffer memory address Setting item

Setting value

Setting details Axis 1 Axis 2 Axis 3 Axis 4 Axis 5 Axis 6 Axis 7 Axis 8


1 Set "1: Validates (enables) the speed-position switching signal".

54 154 254 354 454 554 654 754


Restrictions (1) During the speed/position control, the signal wired as the Reset switch signal

also functions as the speed-position switching signal. Pay attention to the fact that, if the Retry switch signal is input during speed control in the speed-position switching control, it will be switched to the position control at this moment.

(2) If "Continuous path control" is set in " Da. 1 Operation pattern", the "Continuous path control not possible" error (error code: 503) occurs, disabling a start.

(3) "Speed-position switching control" cannot be set in " Da. 2 Control method" of the positioning data if "Continuous path control" is set in " Da. 1 Operation pattern" of its preceding positioning data. (For example, if the operation pattern of positioning data No. 1 is "Continuous path control", "Speed-position switching control" cannot be set in positioning data No. 2.) If such setting has been made, the "Continuous path control not possible" error (error code: 503) occurs, resulting in a deceleration stop.

9 - 15 9 - 15


(4) Under speed control of speed-position switching control, the software stroke limit range is checked only when "1: Update" has been set in " Pr. 4 Current feed value during speed control". If the movement amount has exceeded the software stroke limit range during speed control at the setting of other than "1: Update", the "Software stroke limit +, -" error (error code: 103 or 104) occurs, resulting in a deceleration stop.

(5) If the setting value of " Da. 6 Positioning address/movement amount" is negative, the "Setting range outside" (error code: 513) occurs.

(6) If the movement amount of position control set in " Da. 6 Positioning address/movement amount" is less than the deceleration distance from "Da. 5 Command speed", deceleration processing is started at the input of the speed-position switching signal.

(7) To suppress the variation of the stopping position after switching to position control, turn ON the speed-position switching signal in the stable speed region (constant-speed status).

(8) When the speed-position switching control signal is turned on during acceleration, position control is executed at the speed where the signal is turned on.

(9) If "0" has been set in " Pr. 6 Bias speed at start", starting operation at the setting of "0" in " Da. 5 Command speed" for speed control of speed-position switching control will result in the following. • 0 speed (Md. 7 Status: b2) turns ON. • Though the axis is at a stop, "Md. 4 Axis operation status" is "Speed.Position

Speed" and the BUSY signal remains ON. (Turning ON the axis stop signal turns OFF the BUSY signal and changes "Md. 4 Axis operation status" to "Stopped".)

* In this case, setting other than "0" in "Cd. 7 New speed value" and "1" in "Cd. 6 Speed change request" turns OFF 0 speed (Md. 7 Status: b2), enabling operation to be continued.

Positioning data setting examples The following table shows setting examples when "speed-position switching control by forward run" is set in positioning data No. 1 of axis 1.



Set "Positioning termination" assuming the next positioning data will not be executed. ("Continuous path control" cannot be set in "speed-position switching control".)

Da. 2 Control method Speed.Position Ctrl. (Forward) Set speed-position switching control by forward run.

Da. 3 ACC/DEC time 1000ms Set the acceleration/deceleration time for speed-position switching control. Da. 4 DEC/STOP time 1000ms Set the deceleration stop time for speed-position switching control. Da. 5 Command speed 50000pulse/s Set the speed to be controlled.

Da. 6 Positioning address/movement amount 10000pulse Set the movement amount after the switching to position control.

Axis

1 p

ositi

onin

g da

ta N

o. 1

Da. 7 Dwell time 500ms Set the time from when a stop (pulse output stop) is made under position control until the positioning complete signal is output. (The setting value is ignored if a stop is made under speed control.)


9 - 16 9 - 16


9.2.4 Current value changing

Current value changing performs control to change "Md. 1 Current feed value" to any address.

Operation chart The following chart shows the operation timing for a current value changing. The "Md. 1 Current feed value" is changed to the value set in " Da. 6 Positioning address/movement amount" when the positioning start signal turns ON.

Md.1 Current feed value 5000 10000


OFF

ON

Positioning complete signal[X(n+1)8 to X(n+1)F]

OFF

Current feed value changes to the positioning address designated by thepositioning data of the current value changing.

The above chart shows an examplewhen the positioning address is "10000".

ON

Restrictions (1) If "Continuous path control" is set in " Da. 1 Operation pattern", the "New

current change not possible" error (error code: 502) occurs. ("Continuous path control" cannot be set for current value changing.)

(2) "Current value changing" cannot be set in " Da. 2 Control method" of the positioning data when "continuous path control" has been set in " Da. 1 Operation pattern" of the immediately prior positioning data. (For example, if the operation pattern of positioning data No. 1 is "continuous path control", "current value changing" cannot be set in positioning data No. 2.) If such setting has been made, the "New current change not possible" error (error code: 502) occurs, resulting in a deceleration stop.

(3) If the value set in " Da. 6 Positioning address/movement amount" (New current value) is outside the setting range of the software stroke limit upper and lower limit values ( Pr. 1 , Pr. 2 ), the "Software stroke limit +, -" error (error code: 103, 104) occurs and current value changing cannot be made.

Positioning data setting examples The following table shows the setting examples when " current value changing" is set in the positioning data No. 1 of axis 1.



Set "Positioning termination" assuming that the next positioning data will be executed. ("Continuous path control" cannot be set by current value change.)

Da. 2 Control method Current value changing Set the current value changing.

Da. 3 ACC/DEC time – Setting not required (Setting value is ignored.) Da. 4 DEC/STOP time – Setting not required (Setting value is ignored.) Da. 5 Command speed – Setting not required (Setting value is ignored.)

Da. 6 Positioning address/movement amount 10000pulse Set the address to which address change is desired.

Axis

1 p

ositi

onin

g da

ta N

o. 1

Da. 7 Dwell time 500ms Set the time from completion of current value changing until the positioning complete signal is output.


9 - 17 9 - 17


9.3 Multiple axes simultaneous start control

The QD70D allows the axes to be started simultaneously on a pulse level by turning ON the positioning start signals (Yn8 to YnF) within the same scan during positioning control.

Precautions (1) The speed limit function is valid on an axis basis. (2) To perform stop processing, the stop command (axis stop signal ON) must be

given to the corresponding axis. Note that the axes do not stop simultaneously. (3) JOG operation cannot start the axes simultaneously. (4) If an error occurs in any axis, note that it will be processed on the

corresponding axis. (5) If the positioning start signals (Yn8 to YnF) are turned ON separately by the

direct access output (DY), the axes may not be started simultaneously. In that case, it may take more time to start all of the axes. Therefore, do not turn ON/OFF the signals by the direct access output (DY).

9 - 18 9 - 18


MEMO

10 - 1 10 - 1

MELSEC-Q10 JOG OPERATION

CHAPTER 10 JOG OPERATION

This chapter details the JOG operation of the QD70D.

10.1 Outline of JOG operation

Important When performing JOG operation near the moving range, provide a safety circuit externally. * If an external safety circuit is not provided, the workpiece may exceed the

moving range, causing accidents.

"JOG operation" is a control method to move a workpiece by only desired movement amount, without using the positioning data (the pulse is kept output while the JOG start signal is ON). It is used to move the workpiece to within the software stroke limit range if operation has been stopped by the positioning control system connection confirmation or by the software stroke limit function.

JOG operation In JOG operation, turning ON the JOG start signal [Y(n+1)8 to Y(n+1)F] outputs pulses from the QD70D to the drive unit while it is ON to move the workpiece in the direction set in "JOG. 4 JOG direction flag". The following is an example of JOG operation.

1) Turning ON the JOG start signal starts acceleration in the direction set in "JOG. 4 JOG direction flag" at the acceleration time set in " JOG. 2 JOG ACC time". At this time, the BUSY signal turns from OFF to ON.

2) When the accelerating workpiece reaches the speed set in "JOG. 1 JOG speed", the workpiece continues moving at this speed. (The workpiece moves at constant speed at 2) to 3).)

3) Turning OFF the JOG start signal starts deceleration from the speed set in "JOG. 1 JOG speed" at the deceleration time set in " JOG. 3JOG DEC time".

4) When the speed falls to 0, the workpiece stops. At this time, the BUSY signal turns from ON to OFF.

JOG. 4

OFF

ON

OFF

ON

OFF

ON

ON

OFF

JOG. 1

JOG. 2JOG. 3

1)Pr. 6

Pr. 6

2) 3) 4)

JOG speed

Acceleration according to" JOG ACC time"

Bias speed at start

Forward run JOG operation

Deceleration according to " JOG DEC time"

Bias speed at start

Reverse run JOG operation


JOG start signal[Y(n+1)8 to Y(n+1)F]

JOG direction flag


0 : Forward run JOG 1 : Reverse run JOG


Fig. 10.1 JOG operation starting timing chart

10

10 - 2 10 - 2


JOG operation monitor When using GX Developer to directly monitor the buffer memory, refer to "Section 4.6 List of monitor data". When using the monitor function of GX Configurator-PT to monitor, refer to "Section 6.6 Monitor/test".

Precautions during operation Before starting JOG operation, you must know the following information. (1) Set the JOG data before starting JOG.

(Setting cannot be changed during JOG operation.) (2) Setting a great value to "JOG. 1JOG speed" from the beginning is dangerous.

For safety, set a small value at first and check the movement. After that, gradually increase the value and adjust the speed optimal for control.

(3) If " JOG. 1 JOG speed" is higher than the speed set in " Pr. 5 Speed limit value", operation is performed at " Pr. 5 Speed limit value" and the "Outside speed" warning (warning code: 20) occurs.

(4) If " JOG. 1 JOG speed" is lower than " Pr. 6 Bias speed at start", operation starts at " Pr. 6 Bias speed at start" and the "Outside speed" warning (warning code: 20) occurs. If " Pr. 6 Bias speed at start" is "0", starting JOG operation with the setting of "0" in "JOG. 1 JOG speed" results in the following. • 0 speed (Md. 7 Status: b2) turns ON. • The BUSY signal turns ON. (When the JOG start signal turns OFF, the BUSY

signal turns OFF and "Md. 4 Axis operation status" changes to "Standby".) * In this case, making a speed change with the setting of other than "0" in

"Cd. 7 New speed value" and "1" in "Cd. 6 Speed change request" turns OFF 0 speed (Md. 7 Status: b2), enabling operation to be continued.

(5) If a warning occurs, JOG operation is continued.

Error during operation If operation is stopped by the software stroke limit function, J0G operation can be performed to move the workpiece to within the software stroke limit range after an axis error reset. (Refer to "Section 11.4" for details.)

V

JOG operation

JOG operation possible JOG operation not possible

Within software stroke limit range Outside software stroke limit range

10

10 - 3 10 - 3


10.2 JOG operation execution procedure

The JOG operation is carried out by the following procedure.

JOG operationstart

Monitoringof JOGoperation

End of control

STEP 1

STEP 2

STEP 3

STEP 4

JOG operationstop

STEP 5

Y(n+1)8

Preparation Set the JOG data( JOG. 1 to JOG. 4 )

* Using the GX Developer, set the JOG data and create a sequence program for executing the JOG operation. (Set the JOG date in the QD70 buffer memory using the TO command.)

Create a sequence program that turns ON the "JOG start signal".

Write the sequence program to the

programmable controller CPU.

Turn ON the JOG start signal of the axis to be started.

Turn OFF the JOG operation start signal that is ON.

Monitor the JOG operation status.

* Write the sequence program created in STEP 1 to the programmable controller CPU using GX Developer.

* Turn ON the JOG start signal.

Axis 1JOG startsignal

* One of the following two methods can be used. <Method 1> Monitor using GX Configurator-PT. <Method 2> Monitor using GX Developer.

* Stop the JOG operation when the JOG start signal is turned OFF using the sequence program in STEP 1.

Axis 2 Axis 3 Axis 4

Y(n+1)9 Y(n+1)A Y(n+1)B

Y(n+1)C

Axis 5 Axis 6 Axis 7 Axis 8

Y(n+1)D Y(n+1)E Y(n+1)F

Refer to "Section 5.7 Simple reciprocating operation" for details of a JOG operation starting program.

REMARK

• It is assumed that an external safety circuit and other mechanical elements have already installed.

• Preset the external I/O signal logic, pulse output mode and pulse rotation direction with the intelligent function module switches. (For details, refer to "Section 5.6 Switch setting for intelligent function module".)

• Make parameter setting as necessary.

10 - 4 10 - 4


10.3 JOG operation example

(1) When "axis operation signal" is turned ON during JOG operation When the "axis operation signal" is turned ON during JOG operation, JOG operation results in a "deceleration stop". Turning ON the JOG start signal when the axis stop signal is ON results in the "Stop signal ON at start" error (error code: 102) and does not start JOG. It can be started by resetting the axis error, then turning OFF the axis stop signal, and turning the JOG start signal from OFF to ON again.

OFF

ON

OFF

ON

OFF

ON

OFF

ON

OFF

ON

OFF

ON

Error occurs if JOG start signal is turned from OFF to ON while axis stop signal is ON.


JOG start signal[Y(n+1)8 toY(n+1)F]

Axis stop signal[Y(n+1)0 to Y(n+1)7]


Axis error reset


ProgrammablecontrollerREADY signal [Yn0]

Fig. 10.2 Operation when the axis stop signal is turned ON during JOG operation

10 - 5 10 - 5


(2) When JOG direction flag is changed to reverse run JOG command

during forward run JOG operation When "JOG. 4 JOG direction flag" is changed to the reverse run JOG command during forward run JOG operation, forward run JOG operation is continued. In this case, the reverse run JOG command is made valid when the JOG start signal turns ON after the BUSY signal of the QD70D turned OFF. However, when forward run JOG operation is stopped by the axis stop signal or stopped due to an axis error, reverse run JOG operation is not performed if " JOG. 4 JOG direction flag" is changed to the reverse run JOG command.

OFF

ON

OFF

ON

t

JOG. 4 JOG direction flag

Forward run JOG operation

Reserve 4ms or more. Reverse run JOG

operation

JOG start signal [Y(n+1)8 to Y(n+1)F]

0 : Forward run JOG

Reverse run JOG commandis ignored.

BUSY signa [Xn8 to XnF]

1 : Reverse run JOG

Fig. 10.3 Operation performed when JOG direction flag is changed to reverse run JOG command

during forward run JOG operation

REMARK

• When switching between forward run and reverse run, turn the JOG start signal from OFF to ON when the BUSY signal is OFF.

• When switching between forward run and reverse run, reserve at least 4ms as the time to turn the JOG start signal from OFF to ON. (Refer to Fig. 10.3.)

10 - 6 10 - 6


(3) When the "JOG start signal" is turned ON again during deceleration

caused by the ON OFF of the "JOG start signal" The JOG start signal is ignored when the "JOG start signal" is turned ON again during deceleration that was started by turning the "JOG start signal" from ON to OFF.

t

BUSYsignal[Xn8 to XnF]

OFF

ON

OFF

ON

JOG operation

JOG start is ignored.


Fig. 10.4 Operation when the JOG start signal is turned ON during deceleration

(4) When "axis stop signal" is turned OFF after a stop made by turning

ON "axis stop signal" with "JOG start signal" ON JOG operation is not performed when the "axis stop signal" is turned OFF again after a stop that was made by turning ON the "axis stop signal" with the "JOG start signal" ON. JOG operation can be started by turning the "JOG start signal" from OFF to ON again.

t


OFF

ON


OFF

ON

Axis stop signal[Y(n+1)0 to Y(n+1)F]

OFF

ON JOG is not started if axis stop signal is turned OFF.

Fig. 10.5 Operation performed when axis stop signal is turned from ON to OFF with JOG start signal ON

11 - 1 11 - 1

MELSEC-Q11 SUB FUNCTIONS

CHAPTER 11 SUB FUNCTIONS

This chapter details the sub functions of the QD70D. 11.1 Outline of sub functions

The "sub functions" are used to limit control and add functions, for example, for execution of OPR control, positioning control and JOG operation. These sub functions are executed by parameter setting, sequence programs, etc.

There are the following "sub functions".

Sub functions Details

Speed limit function If the command speed exceeds " Pr. 5 Speed limit value" during control, this function limits the commanded speed to within the " Pr. 5 Speed limit value" setting range.

Speed change function This function allows the speed change at any time point during position control with the operation pattern set to Positioning termination, during speed control in the speed-position switching control or during JOG operation.

Software stroke limit function

If a command outside of the upper/lower limit stroke limit setting range, set in the parameters, is issued, this function will not execute positioning control for that command.


During position control with the operation pattern set to Positioning termination, this function allows change of the target position. By setting a new positioning address or movement amount in "Cd. 11 Target position change value", the target position can be changed with "Cd. 10 Target position change request".

Acceleration/deceleration process function This function adjusts the acceleration/deceleration processing of control.

Restart function This function resumes positioning control from where it had stopped while the axis is at a stop.

11.2 Speed limit function

The speed limit function limits the command speed to a value within the "speed limit value" setting range when the command speed during control exceeds the "speed limit value".

The details shown below explain about the "speed limit function".

[1] Relation between the speed limit function and various controls [2] Setting the speed limit function

[1] Relation between the speed limit function and various controls

The following table shows the relation of the "speed limit function" and various controls.

Control type Speed limit function Speed limit value Operation when speed limit value is

exceeded

Machine OPR control OPR control

Fast OPR control Pr. 5 Speed limit value

Does not operate. "Out of OPR speed setting range (error code: 913)" error or "Out of creep speed setting range (error code: 914)" error occurs.



Pr. 5 Speed limit value"Out of speed range" warning (warning code: 20) occurs, and the axis is controlled by the speed limit value.

Positioning control

Current value changing – Setting value invalid –

JOG operation Pr. 5 Speed limit value"Out of speed range" warning (warning code: 20) occurs, and the axis is controlled by the speed limit value.

: Always set – : Setting not required (Setting value is invalid. Use the initial values or setting values within a range where no error

occurs.)

11

11 - 2 11 - 2


[2] Setting the speed limit function

To use the "speed limit function", set the "speed limit value" in the parameters shown in the following table, and write it to the QD70D. (The "speed limit value" depends on the motor used. Set it according to the motor used.) The setting is made valid when the Programmable controller READY signal [Yn0] turns from OFF to ON.

Setting item Setting value

Setting details Factory-set initial value

Pr. 5 Speed limit value Set the speed limit value (max. speed during control). 10000 (pulse/s)

* Refer to section "4.2 List of parameters" for setting details. 11.3 Speed change function

The "speed change function" is used to change the speed at a given point under any of the following controls. A new speed must be within the setting range of " Pr. 5 Speed limit value". • Position control (Operation pattern: Positioning termination) • Speed control in the speed-position switching control • In JOG operation at fixed speed Set a new speed in "Cd. 7 New speed value" and make a speed change using "Cd. 6 Speed change request". The acceleration and deceleration times after a speed change are the values set in "Cd. 8 ACC/DEC time at speed change" and "Cd. 9 DEC/STOP time at speed change". The details shown below explain about the "speed change function".

[1] Control details [2] Precautions during control

[1] Control details

The following is the operation performed during a speed change for JOG operation.

V

V1

V2

V3

tCd. 8

Deceleration made atvalue set in

Cd. 9Deceleration stop made at value set in

JOG. 1 JOG speed

JOG. 2 JOG ACC time


OFF ONJOG start

Speed change to V2Speed change to V3

Operation performed when speed change is not made

Cd. 8Acceleration made at value set in

Fig. 11.1 Speed change operation

11

11 - 3 11 - 3


[2] Precautions during control

(1) The time required to reach a new speed from an old speed at speed change is

"Cd. 8 ACC/DEC time at speed change". For a deceleration stop made by axis stop signal ON or JOG start signal OFF after the new speed is reached following a speed change request, the time required to make a stop after reaching " Pr. 6 Bias speed at start" from the operating speed is "Cd. 9 DEC/STOP time at speed change". However, if the new speed (Cd. 7 New speed value) is less than the old speed, the time required to make a stop from axis stop signal ON or JOG start signal OFF may exceed the preset deceleration stop time (Cd. 9 ) when a deceleration stop is made by axis stop signal ON or JOG start signal OFF right after the speed change command (before "Cd. 7 New speed value" is reached). (See below.) Note that the deceleration stop time is the "time required to make a stop from the target speed", and not the "time required to make a stop from the current speed". If axis stop signal ON or JOG start signal OFF occurs before the target speed is reached, the time required to make an actual stop is determined by the "current speed (speed at axis stop signal ON or JOG start signal OFF)" and "slope of deceleration from the target speed to a stop (slope of deceleration found from the target speed (Cd. 7 ) and deceleration stop time (Cd. 9 ))". When it is necessary to make a stop in a short time before the target speed is reached, make adjustment using the Cd. 9 value.

V

t

Speed change commandOld speed

Cd.7Pr.6

Axis stop signal ON or JOG start signal OFF

Cd.8

Axis stop signal ON or JOG start

Cd.9

Cd.7

Cd.8

Cd.9

Pr.6

Target speed

Same slope

Preset deceleration stop time

Actual deceleration time

before target speed is reached

signal OFF after target speed is

New speed value

ACC/DEC time at speed change

DEC/STOP time at speed change

Bias speed at startreached

Fig. 11.2 Operation performed when axis stop signal ON or JOG start signal OFF occurs before new speed value is reached

11 - 4 11 - 4


(2) When "0" is set in " Pr. 6 Bias speed at start", making a speed change with

the setting of "0" in "Cd. 7 New speed value" results in the following.

• A deceleration stop is made and 0 speed (Md. 7 Status: b2) turns ON. • The axis stops but "Md. 4 Axis operation status" is "Speed.Position

Speed" or "JOG Operation" and the BUSY signal remains ON. (When the axis stop signal is turned ON, the BUSY signal turns OFF and "Md. 4 Axis operation status" changes to "Stopped".)

* In this case, making a speed change with the setting of other than "0" in "Cd. 7 New speed value" and "1" in "Cd. 6 Speed change request" turns OFF 0 speed (Md. 7 Status: b2), enabling operation to be continued.

[Xn8 to XnF]

10000

ONOFF

ON

OFFON

OFFON

OFF

[Yn8 to YnF]

Cd. 7

BUSY signal

New speed value

Speed change request

Positioning control

0 speedStatus : b2

Positioning start signal

Cd. 6

Md. 7 Fig. 11.3 Speed change at new speed value "0" (during speed control of speed-position switching control)

(3) A speed change cannot be made during the following deceleration. (The

speed change request is ignored.) • During deceleration started by turning ON the axis stop signal • During deceleration started by turning OFF the JOG start signal

(4) In the following cases, "Speed change not possible" (Warning code: 22) is

issued and the speed cannot be changed. • During position control in the speed-position switching control • During the OPR control • When speed change disables the operation stop at " Da. 6 Positioning

address/movement amount" during position control (Operation pattern: Positioning termination).

(5) If the value set in "Cd. 7 New speed value" is equal to or higher than " Pr. 5

Speed limit value", the "Outside speed" warning (warning code: 20) occurs and the speed is controlled at " Pr. 5 Speed limit value". If the value set in "Cd. 7 New speed value" is lower than " Pr. 6 Bias speed at start", the "Outside speed" warning (warning code: 20) occurs and the speed is controlled at " Pr. 6 Bias speed at start".

11 - 5 11 - 5


(6) If the axis is stopped by the axis stop signal after a speed change has been

made during speed control of speed-position switching control, the speed at a restart is as set in " Da. 5 Command speed".

Cd. 7

Da. 5

t

V

Speed change command

Stop command

Restart command

Command speed

New speed value

Fig. 11.4 Restart speed after speed change during speed control of speed-position switching control

(7) If the speed has been changed during position control (Operation pattern:

Positioning termination), depending on the distance between the speed-changed position and the target position ( Da. 6 Positioning address/movement amount), the work may reach " Da. 6 Positioning address/movement amount" and stop at the point before the speed is reduced to " Pr. 6 Bias speed at start".

Speed change commandv

t

BiasPr.6

New speed valueCd.7

speed at start

ACC/DEC timeCd.8at speed change DEC/STOP time at speed changeCd.9

Stopped when positioning address/movement amount is reached

(8) To change the target position after changing the speed or vise versa, refer to "Section 11.5 Target position change function, [2] Precautions during control".

11.4 Software stroke limit function

The "software stroke limit function" is designed not to execute the movable command to outside the setting range that has been set by the upper and lower limits of the workpiece movable range using the address (Md. 1 Current feed value) established by the machine OPR control. • The "software stroke limit function" is valid for "Md. 1 Current feed value" and " Da. 6

Positioning address/movement amount" (New current value). • The "software stroke limit function" is made valid at an operation start and during

operation.

The upper and lower limits of the moveable range of the workpiece are set in " Pr. 1 Software stroke limit upper limit value"/ " Pr. 2 Software stroke limit lower limit value".

11 - 6 11 - 6


The details shown below explain about the "software stroke limit function". [1] About movable range [2] Software stroke limit check details [3] Relation between the software stroke limit function and various controls [4] Precautions during software stroke limit check [5] Setting the software stroke limit function

[1] About movable range

The following drawing shows the moveable range of the workpiece when the software stroke limit function is used.

Limit switch for emergency stop

Limit switch for emergency stop

Workpiece moveable range

Software stroke limit lower limit value Software stroke limit upper limit valuePr. 2 Pr. 1

Fig. 11.5 Workpiece moveable range

11 - 7 11 - 7


[2] Software stroke limit check details

Check details Processing at error

1) "Md. 1 Current feed value" outside the software stroke limit range is defined as an "error".

2) "Da. 6 Positioning address/movement amount" (New current value) outside the software stroke limit range is defined as an "error".

An "error" occurs. (Error code: 103, 104)

[3] Relation between the software stroke limit function and various

controls The following are the relationships between the software stroke limit function and various controls when "0: Valid" is set in " Pr. 3 Software stroke limit value valid/invalid setting".

Control type

Software stroke limit

check

Processing at check

Machine OPR control – OPR control Fast OPR control –

Check not carried out.


Checks 1) and 2) in the previous section [2] are carried out. (At operation start)

The axis does not start if the software stroke limit range is exceeded.

(During operation) The axis stops immediately when it exceeds the range of the software stroke limit.

For speed control: Checks 1) and 2) in the previous section [2] are carried out.

(At operation start) The axis does not start if the software stroke limit range is exceeded.

(During operation) The axis decelerates to a stop when it exceeds the software stroke limit range.


For position control: Checks 1) and 2) in the previous section [2] are carried out.

The axis decelerates to a stop when it exceeds the software stroke limit range.

Positioning control

Current value changing The current value will not be changed if the new current value is outside the software stroke limit range.

JOG operation

Checks 1) and 2) in the previous section [2] are carried out. (At operation start)

The axis can be started only toward the software stroke limit range (movable range).

(During operation) The axis decelerates to a stop when it exceeds the software stroke limit range.

: Check valid : Check is not made if the current feed value is not updated (Refer to " Pr. 4 Current feed value during speed control")

during speed control of speed-position switching control. – : Check not carr ied out (check invalid).

11 - 8 11 - 8


[4] Precautions during software stroke limit check

(1) A machine OPR control must be executed beforehand for the "software stroke limit function" to function properly.

(2) If an error is detected in the "continuous path control" operation pattern of positioning control, the axis comes to an immediate stop upon completion of the execution of the positioning data that precedes the positioning data where the error occurred.

Positioning date

Md. 4

Example

No. 5

No.6

No.9

No.8

No.7

(Operation pattern : Continuous path control) • If the positioning address of positioning data No. 8 is outside the software stroke limit range, the operation immediately stops after positioning data No. 7 has been executed.

Immediate stop aterror detection



Position control




Error

Operation pattern : Continuous path control




Operation pattern : Continuous positioning control

[5] Setting the software stroke limit function To use the "software stroke limit function", set the required values in the parameters shown in the following table, and write them to the QD70D. The set details are validated at the rising edge (OFF ON) of the Programmable controller READY signal (Yn0).

Setting item Setting value

Setting details Factory-set initial value

Pr. 1

Software stroke limit upper limit value

Set the upper limit value of the moveable range. 2147483647

Pr. 2

Software stroke limit lower limit value

Set the lower limit value of the moveable range. –2147483648

Pr. 3

Software stroke limit valid/invalid setting

0:Val idSet whether the software stroke limit is validated or invalidated.

0: valid

* Refer to section "4.2 List of parameters" for setting details.

Make setting so that the condition of ( Pr. 1 Software stroke limit upper limit value) > (Pr. 2 Software stroke limit lower limit value) is satisfied. If the setting made does not satisfy the above condition, the "Software stroke limit upper/lower limit value error" error (error code: 901) occurs.

11 - 9 11 - 9


11.5 Target position change function

The "target position change function" allows the target position to be changed at any given timing during execution of position control (Operation pattern: Positioning termination). To use this function, set a new target position* in "Cd. 11 Target position change value" and turn ON "Cd. 10 Target position change request". * The setting for a new target position differs depending on whether to select "1: 1-

axis linear control (ABS)" or "1-axis linear control (INC)" for "Da.2 Control method". • For the 1-axis linear control (ABS), set the movement amount from the OP address. • For the 1-axis linear control (INC), set the movement amount from the start address. The following explains the "target position change function".

[1] Control details [2] Precautions during control

[1] Control details

The control cases using the target position change function are shown below.

(1) When the target position change request is input, the work is located before the deceleration start position for the newly specified target.

V

L

Target position change request ON

New target position (Decremented)

Previous target position New target position (Incremented)

(2) When the target position change request is input, the work is located beyond the deceleration start position for the newly specified target.

V

L

Deceleration start position for new target Target position change request ON


Previous target position

(3) When the target position change request is input, the work has started

decelerating to stop. V

L

Target position change request ON


Previous target position

New target position (Incremented)

11 - 10 11 - 10


[2] Precautions during control When utilizing the target position change function, pay attention to the following:

(1) The target position can be changed any number of times during a control.

When changing the target position several times during 1-axis linear control (INC), a newly specified target position is always identified as the movement amount from the start address.

(2) If the work is under acceleration to the commanded speed at the point where

the target position request is input, after the commanded speed is reached, perform positioning for the newly specified target. (Actions shown in (1) or (2)) After acceleration, however, if deceleration to stop is started without switching to the commanded speed, positioning for the newly specified target must be done after completion of the deceleration stop.

(3) If the target position change request is input several times during

acceleration or during deceleration stop, positioning is performed to the target position set in "Cd. 11 Target position change value" at the last time the request is input.

(4) When using the target position change function and the speed change

function together, pay attention to the following:

(a) When "Cd. 10 Target position change request" turns ON during speed control, the processing for the target position change is performed after completion of the speed change. If the speed change value is 0pps, however, only the target position is changed with no movement. When the speed is changed to other than 0pps next time, positioning is performed to the target position.

(b) When "Cd. 6 Speed change request" and "Cd. 10 Target position

change request" turn ON at the same time, "Speed change not possible" (Warning code: 22) is generated.

(5) At the point where "Cd. 10 Target position change request" turns ON, the

software stroke limit check is performed on the value set for "Cd. 11 Target position change value". If the "Cd. 11 Target position change value" is more than the upper limit value or less than the lower limit value, the target position is not changed and the positioning performed before the change request is continued. In this case, "Cd. 6 Speed change request" and "Cd. 10 Target position change request" will not be accepted after that.

(6) The target position change function is not allowed in the following cases:

(a) While the axis operation is stopped or is in standby status, "Cd.10

Target position change request" is ignored.

(b) When the target position change is requested after restart, "Target position change not possible" (Warning code: 25) is generated.

(c) When the target position change is requested in other than position

control (Operation pattern: Positioning termination), "Target position change not possible" (Warning code: 25) is generated.

11 - 11 11 - 11


11.6 Acceleration/deceleration processing function

The "acceleration/deceleration processing function" is designed to adjust acceleration/deceleration when OPR control, positioning control or JOG operation is performed. Adjusting the acceleration/deceleration processing according to control enables finer control. The acceleration/deceleration adjusting items that can be set are "bias speed at start", "target speed", "acceleration time","deceleration time",and " Acceleration / Deceleration System Selection".

The following will be explained for the "acceleration/deceleration processing function".

[1] Control details [2] Precautions for control

[1] Control details

The following is the operation of the acceleration/deceleration processing function of the QD70D.

(1) Operation by "Bias speed at start", "Target speed", "Acceleration

time" and "Deceleration time"

t

V

Pr. 6

Target speed

" Bias speed at start" is other than 0

" Bias speed at start" is 0

(Set deceleration time) = (actual deceleration time)(Set acceleration time) = (actual acceleration time)

Pr. 6

Pr. 6

(Set acceleration/deceleration time) = (actual acceleration/deceleration time) if " Pr. 6 Bias speed at start" is either 0 or other than 0. Not that, for S-curve acceleration/deceleration, because the last deceleration speed is " Pr. 6 Bias speed at start" + 1pps, the actual deceleration time will exceed the preset deceleration time. In this case, the actual deceleration time can be shortened by setting any other than 0pps for the " Pr. 6 Bias speed at start". • The set acceleration/deceleration time is the actual acceleration/deceleration time and "Pr. 5 Speed limit value" does not

influence the acceleration/deceleration time. • The acceleration/deceleration time slope varies if the setting of "Pr. 6 Bias speed at start" is changed. • The "set acceleration time" and "set deceleration time" are available individually for the functions

(For details, refer to "CHAPTER 4 DATA USED FOR POSITIONING CONTROL".) <Jog operation>

Set acceleration time: JOG. 1 JOG ACC time, set deceleration time: JOG. 2 JOG DEC time <Positioning control (Operation pattern: Positioning termination, continuous positioning control)>

Set acceleration time: Da. 3 ACC/DEC time, set deceleration time: Da. 4 DEC/STOP time Fig. 11.6 Operation by "Bias speed at start", "Target speed", "Acceleration time" and "Deceleration time"

11 - 12 11 - 12


Slope of acceleration/deceleration The slope of acceleration/deceleration is calculated by the following expression.

(Target speed) - (bias speed at start)

(Set acceleration time/set deceleration time)

POINT For the QD70D, the acceleration/deceleration slope is determined by the three data of "bias speed at start", "target speed" and "acceleration/deceleration time". Fully note this when changing the setting values. (A sharp acceleration/deceleration slope may affect the machine.)

(2) Setting and operation of "Acceleration/Deceleration method"

Whether to use the trapezoidal or S-curve acceleration/deceleration is set as the acceleration/deceleration method. This setting is effective for all of the acceleration/deceleration operations.

(a) Trapezoidal Acceleration/Deceleration The speed is increased or decreased between " Pr. 6 Bias speed at start" and the target speed linearly during the acceleration or deceleration time.

Target speed

V

t

Acceleration time Deceleration time

Pr.6

(b) S-curve Acceleration/Deceleration

The speed is increased or decreased between " Pr. 6 Bias speed at start" and the target speed in a S-curve during the acceleration or deceleration time.

V

t

Target speed

Acceleration time Deceleration time

Pr.6

Fig. 11.7 Setting and operation of "Acceleration/Deceleration method"

11 - 13 11 - 13


The following is the operation of the acceleration/deceleration processing function during position control or speed changing in the operation pattern of continuous path control.

<For position control in operation pattern of continuous path control>

V

t

Da. 3

Da. 3 Da. 4

Da. 5

Da. 5

Da. 5

Pr. 6

Da. 5

Da. 3

Da. 3

Da. 7 Dwell time



Continuous path control Positioning termination



<For speed change under speed control of speed-position switching control (positioning data No. 1)>

(Refer to "Section 11.3" for speed change during JOG operation.)

V

t1

V2

V1

t2t

Cd. 7

Da. 5

Pr. 6

Da. 3

Cd. 8

Da. 6

Cd. 9Da. 7




Speed-position switching command

Dwell time

Cd. 8

Pr. 6 Bias speed at start, Da. 3 ACC/DEC time, Da. 4 DEC/STOP time Da. 5 Command speed, Da. 6 Positioning address/movement amount Cd. 7 New speed value (V1: New speed value at time t1, V2: New speed value at time t2) Cd. 8 ACC/DEC time at speed change, Cd. 9 DEC/STOP time at speed change *: If a speed change is not made during speed control, deceleration is made at "Da. 4 DEC/STOP time".

11 - 14 11 - 14


The following is the operation performed during machine OPR control in each OPR method.

<When OPR method is any of "near-point dog method", "stopper 1",

"stopper 2" and "count 1">

V

t

OPR. 6

Pr. 6

OPR. 5

OPR. 4

OPR. 6

Near-point dog ON

Machine OPR control complete

<When OPR method is "stopper 3">

V

t

OPR. 6

Pr. 6

OPR. 5


<When OPR method is "count 2">

V

t

Pr. 6

OPR. 5

OPR. 4Near-point dog ON

OPR. 6

OPR. 6

OPR. 6


Pr. 6 Bias speed at start, OPR. 4 OPR speed, OPR. 5 Creep speed OPR. 6 ACC/DEC time at OPR, OPR. 7 DEC/STOP time at OPR

11 - 15 11 - 15


[2] Precautions for control

(1) At the set speed of 1 (pulse/s), the set acceleration/deceleration time is ignored.

(2) In the acceleration/deceleration pattern where the movement amount is small relative to the acceleration/deceleration time and a constant-speed part does not exist, operation is not performed at the set acceleration/deceleration time. In such a case, review the setting details.

(3) If operation is performed with 0 set as the bias speed at start in the control method of "1-axis linear control (ABS)" or "1-axis linear control (INC)" positioning control, an error "Movement amount shortage at 0 bias speed" (error code: 514) may occur due to shortage of the movement amount. Perform either of the following operations (a), (b) as the corrective action at error occurrence. (a) Set 1 (pulse/s) or more to " Pr. 6 bias speed at start". (b) If the movement amount is 32 (pulse) or less, set the value equal to or

less than the initial value (1000ms) to " Da. 3 ACC/DEC time" and " Da. 4 DEC/STOP time".

11.7 Restart function

When the axis is stopped by the axis stop signal during operation, position control is resumed from the stop position to the end of the positioning data by "Cd. 4 Restart request". [Position control that can be restored] The restart function can be used only when the axis is stopped during operation under position control or speed control of speed-position switching control. [Position control that cannot be restored] When the axis has been stopped during operation under position control of speed-position switching control, do not restart it. If the axis is restarted, it will not be stopped at the end point of the positioning data. Refer to [2]-(5) in this section for operation details. The following will be described for the "restart function".

[1] Control details [2] Precautions for control

11 - 16 11 - 16


[1] Control details

(1) Restart during position control

Setting "1: With restart request" in "Cd. 4 Restart request" when "Md. 4 Axis operation status" is "Stopped" resumes position control from the stop position to the end point of the positioning data where the axis had stopped, independently of the absolute or incremental system.

[Example for incremental system]

The following is the operation performed when the axis is stopped during execution of position control (1-axis linear control) at the axis 1 movement amount of 600 and a restart request is executed after the axis stop signal turns OFF.

0 100 300 700 0 100 300 700

Stop position at axis stop

Starting pointaddress

Specified end point position

Axis 1

Restart


Operation atrestart

Stop position after restart

Axis 1

(2) Restart during speed control

Speed control is resumed at the speed used before a stop made by the axis stop signal [Y(n+1)0 to Y(n+1)7].

(3) When restart is not made during position control

When "Md. 4 Axis operation status" is "Stopped", turning ON the positioning start signal [Yn8 to YnF] starts position control from the current stop position.

[Example for incremental system]

The following is the operation performed when the axis is stopped during execution of position control (1-axis linear control) at the axis 1 movement amount of 600 and position control is started after the axis stop signal turns OFF.

0 100 300 700 0 100 300 900


Starting point address

Specified end point position

Axis 1


Axis 1

Operation at positioncontrol start

Stop position after restart

Positioning start

11 - 17 11 - 17


[2] Precautions for control

(1) Setting "1: With restart request" in "Cd. 4 Restart request" when "Md. 4 Axis

operation status" is other than "Stopped" results in the "Restart not possible" warning (warning code: 11).

(2) If "1: With restart request" is set in "Cd. 4 Restart request" when the axis stop signal [Y(n+1)0 to Y(n+1)7] is ON, the "Stop signal ON at start" error (error code: 102) occurs and a restart is not made.

(3) If the positioning data is changed after the axis has been stopped by the axis stop signal [Y(n+1)0 to Y(n+1)7], a restart cannot be made properly.

(4) The restart function is not performed in the following cases. (The "Restart not possible" warning (warning code: 11) occurs.) • During OPR control • During JOG operation

(5) For speed-position switching control, the axis is always restarted by speed control whichever speed control or position control is used for the operation before the axis is stopped by the axis stop signal. The following shows operations under speed-position switching control after restart. (a) When the speed-position switching signal (CHG) is OFF at restart

The axis is started with speed control, and position control of the movement amount set in " Da. 6 Positioning address/movement amount" is executed from the position where the speed-position switching signal is turned ON.

V

T

ONOFF

Speed-positionswitching signal (CHG)

Axis stop signalON

Restart requestON

Speedcontrol

Positioncontrol

Speedcontrol

Positioncontrol

(b) When the speed-position switching signal (CHG) is ON at restart

The axis is restarted with speed control and then position control switched immediately, and position control of the movement amount set in " Da. 6 Positioning address/movement amount" is executed from the position where the axis is restarted.

T

ONOFF

Speed-positionswitching signal (CHG)

Axis stop signalON

Restart requestON

Speedcontrol

Positioncontrol Position control

V

12 - 1 12 - 1

MELSEC-Q12 COMMON FUNCTIONS

CHAPTER 12 COMMON FUNCTIONS

This chapter details the common functions of the QD70D. 12.1 Outline of common functions

"Common functions" are executed according to the user's requirements, regardless of the control system, etc. These common functions are executed by GX Developer. For details of GX Developer, refer to the GX Developer Operating Manual. The following table shows the functions included in the "common functions".

Common function Details Means

External I/O signal logic switching

This function changes the external I/O signal logic according to the device connected to the QD70D.

Switch setting on the QCPU PLC parameter "I/O assignment" screen using GX Developer (Intelligent function module switches)

External I/O signal monitor This function monitors the states of the external I/O signals.

This function monitors the external I/O signal monitor information in the module's detailed information which can be displayed on the system monitor of GX Developer.

12.2 External I/O signal switching function

This function switches the signal logic according to the equipment connected to the QD70D. The following external I/O signals can be changed in logic.

I/O class Signal name Symbol Remarks Zero signal PGO Input Near-point dog signal DOG Pulse output F PULSE F(+/-) Pulse output R PULSE R(+/-) Output Deviation counter clear CLEAR

of the symbol indicates the axis No. (1 to 8).

The following will be described for the "external I/O signal logic switching function".

[1] Setting details [2] Precautions for setting

[1] Setting details

Make switch setting (intelligent function module switches) of the "I/O assignment screen" PLC parameter of the QCPU using GX Developer. For details of the setting, refer to "Section 5.6 Switch setting for intelligent function module".

[2] Precautions for setting

(1) The values set are made valid after power-on or programmable controller CPU reset. They cannot be changed during operation.

(2) If each signal logic is set erroneously, the operation may not be carried out correctly. Before setting, check the specifications of the equipment to be used.

12

12 - 2 12 - 2


12.3 External I/O signal monitor function

The "external I/O signal monitor function" monitors the module information, external I/O signal monitor information and intelligent function module switch setting states in the "H/W Information" of the module's detailed information that can be displayed on the system monitor of GX Developer (SW7D5C-GPPW-E or later). [Setting procedure]

Choose [Diagnostics] [System monitor] "QD70D module" and choose "Module's detailed information" H/W Information .

[H/W LED Information] H/W LED information displays the following information.

Item Signal name Value Item Signal name Value RUN "RUN" LED of QD70D DOG4 Near-point dog signal of Axis 4 ERR "ERR." LED of QD70D

0: LED off 1: LED on, flicker DOG5 Near-point dog signal of Axis 5

ZERO1 Zero signal of Axis 1 DOG6 Near-point dog signal of Axis 6 ZERO2 Zero signal of Axis 2 DOG7 Near-point dog signal of Axis 7 ZERO3 Zero signal of Axis 3 DOG8 Near-point dog signal of Axis 8

ZERO4 Zero signal of Axis 4 CHG1 Speed-position switching signal of Axis 1





DOG1 Near-point dog signal of Axis 1 CHG6 Speed-position switching signal of Axis 6

DOG2 Near-point dog signal of Axis 2 CHG7 Speed-position switching signal of Axis 7

DOG3 Near-point dog signal of Axis 3

0: OFF, 1: ON

CHG8 Speed-position switching signal of Axis 8

0: OFF, 1: ON

12

12 - 3 12 - 3


[H/W SW Information]

The setting states of the intelligent function module switches are displayed. Item Signal name Corresponding switch Value

PLS MODE Pulse output mode Switch 1 PLS OUT Pulse output logic selection 8 lower bits DCC CLR Deviation counter clear output signal logic selection

Switch 28 upper bits

ZERO SIG Zero signal input logic selection 8 lower bits ROT DIR Rotation direction setting

Switch 38 upper bits

DOG SIG Near-point dog signal input logic selection Switch 4 NOP – Switch 5

Refer to "Section 5.6 Switch setting for intelligent function module" for details.

13 - 1 13 - 1

MELSEC-Q13 TROUBLESHOOTING

CHAPTER 13 TROUBLESHOOTING

This chapter describes the details of errors and warnings that may occur during use of the QD70D.

13.1 Error and warning details

[1] Errors

Types of errors Errors detected by the QD70D include parameter and OPR data setting range errors and errors at the operation start or during operation.

(1) Parameter and OPR data setting range errors

The parameters and the OPR data are checked when the power is turned ON and at the rising edge (OFF ON) of the Programmable controller READY signal [Yn0]. An error will occur if there is a mistake in the parameter and the OPR data setting details at that time. When this kind of error occurs, the module READY signal does not turn ON. To cancel this kind of error, set the correct value in the parameter and the OPR data for which the error occurred, and then turn ON the Programmable controller READY signal [Yn0].

(2) Errors at the operation start or during operation

These are errors that occur at the operation start or during operation when the OPR control, positioning control or JOG operation is used. If an error occurs on any axis at a start, that axis does not start and "Md. 4 Axis operation status" changes to "Error". If an error occurs on any axis during operation, that axis decelerates to a stop and "Md. 4 Axis operation status" changes to "Error".

Error storage If an error occurs, the axis error occurrence signal turns ON and the error code (DEC.) corresponding to the error definition is stored into "Md. 5 Axis error code". Also, the bit of " Md. 10 Error status" corresponding to the error occurrence axis turns ON.

Md. 10 Error status Axis No. Axis error

occurrence signal "Md. 5 Axis error code" buffer memory address Buffer memory

address bit

1 77 0 2 177 1 3 277 2 4 377 3 5 477 4 6 577 5 7 677 6 8

Xn1

777

1600

7 * Refer to "Section 4.6 List of monitor data" for the setting details.

If another error occurs during axis error occurrence, the latest error code is ignored. However, if any of the system-affecting errors (error codes: 800 to 840) occurs, the old error code is overwritten by the newest error code. (Error codes 800 to 840 are stored into "Md. 5 Axis error code" of all axes.

13

13 - 2 13 - 2


[2] Warnings

Types of warnings A warning occurs during OPR control, positioning control or JOG operation. If a warning occurs, operation is continued. Also, if a warning occurs, "Md. 4 Axis operation status" remains unchanged.

Warning storage If a warning occurs, the axis warning occurrence signal turns ON and the warning code (DEC.) corresponding to the warning definition is stored into "Md. 6 Axis warning code". Also, the bit of "Md. 11 Warning status" corresponding to the warning occurrence axis turns ON.

Md. 11 Warning status Axis No. Axis warning

occurrence signal "Md. 6 Axis warning code"

buffer memory address Buffer memory address bit

1 78 0 2 178 1 3 278 2 4 378 3 5 478 4 6 578 5 7 678 6 8

Xn2

778

1601

7

* Refer to "Section 4.6 List of monitor data" for the setting details.

The latest error code is always stored.

[3] Resetting errors and warnings Setting "1" in "Cd. 1 Axis error reset" performs the following processing and then cancels the error/warning status. • The axis error occurrence signal (Xn1) is turned OFF ("1" is set in Cd. 1 of all

axes). • The axis warning occurrence signal (Xn2) is turned OFF ("1" is set in Cd. 1 of all

axes). • "Md. 4 Axis operation status" changes from "Error" to "Standby". • "Md. 5 Axis error code" is cleared to zero. • "Md. 6 Axis warning code" is cleared to zero.

[4] Confirming the error and warning definitions

The error and warning definitions can be confirmed in "Md. 5 Axis error code" and "Md. 6 Axis warning code". To confirm them, GX Developer or GX Configurator-PT is needed. For details, refer to "Section 13.5 Confirming the error definitions using system monitor of GX Developer" or "CHAPTER 6 UTILITY PACKAGE (GX Configurator-PT)". (Refer to Section 13.2 and Section 13.3 for details of the error codes and warning codes.)

13

13 - 3 13 - 3


13.2 List of errors

The following table shows the error details and remedies to be taken when an error occurs.

Error

code (DEC.)

Error name Error Operation status at error occurrence

000 Normal status — —

100 Faults Hardware is faulty. The system stops

101 QD70D not prepared Start was made when the QD70D was not ready.

102 Stop signal ON at start A start request was given when the axis stop signal (Y(n+1)0 to Y(n+1)7) is ON.

Start is not made.

103 Software stroke limit +

• Positioning control was carried out in a position in excess of "Pr. 1 Software stroke limit upper limit value".

• "Md. 1 Current feed value" or " Da. 6 Positioning address/movement amount" (New current value) has exceeded " Pr. 1 Software stroke limit upper limit value".

104 Software stroke limit -

• Positioning control was carried out in a position in excess of "Pr. 2 Software stroke limit lower limit value".

• "Md. 1 Current feed value" or " Da. 6 Positioning address/movement amount" (New current value) has exceeded " Pr. 2 Software stroke limit lower limit value".

At start: Start is not made. At current value changing analysis:

Current value changing is not made. During operation: • During speed control (including speed

control of speed-position switching control) or JOG operation, the axis decelerates to a stop as soon as "Md. 1 Current feed value" exceeds the software stroke limit range.

• During position control (including position control of speed-position switching control), the axis decelerates to a stop as soon as "Md. 1 Current feed value" or " Da. 6 Positioning address/movement amount" exceeds the software stroke limit range.

105 Programmable controller READY OFF during

The Programmable controller READY signal (Yn0) turned OFF during operation.

The axis decelerates to a stop.

110 Programmable controller READY OFF during writing

The Programmable controller READY signal (Yn0) turned OFF immediately after turning ON.

—

13 - 4 13 - 4


Related buffer memory address

Axis 1 Axis 2 Axis 3 Axis 4 Axis 5 Axis 6 Axis 7 Axis 8Setting range Remedy

— — — — — — — — — —

— — — — — — — — —

• Check that there is no influence from noise.

• Check hardware for possibility of fault.

— — — — — — — — —

After switching power from OFF to ON/resetting the programmable controller CPU, turn ON the Programmable controller READY signal (Yn0) again, make sure that the module READY signal (Xn0) is ON, and then make a start. (The module is faulty if the

— — — — — — — — —

Check whether the axis stop signal (Y(n+1)0 to Y(n+1)7) is ON or OFF and turn OFF the axis stop signal that is ON.


0 1

100 101

200 201

300 301

400 401

500 501

600 601

700 701


2 3

102 103

202 203

302 303

402 403

502 503

602 603

702 703

Da. 6 Positioning address/movement amount (Refer to Section 4.5)

-2147483648 to 2147483647 (pulse)

At start: Perform JOG operation (Refer to Chapter 10) to change "Md. 1 Current feed value" to within the software stroke limit range.

Current value changing: Change the new current value to within the software stroke limit range (Refer to Section 9.2.4).

During operation: Correct "Da. 6 Positioning address/movement amount" (Refer to Section 4.5).

— — — — — — — — —

— — — — — — — — —

Review the sequence program that turns ON/OFF the Programmable controller READY signal (Yn0).

13 - 5 13 - 5


Error

code (DEC.)


201 Start during near-point dog ON

With "OPR. 1 OPR method" being any of near-point dog method, count 1 and count 2, machine OPR control was started when the near-point dog was ON.

202 Zero signal ON With "OPR. 1 OPR method" being either of stopper 2 and stopper 3, the zero signal is input when machine OPR control is started.

Machine OPR control is not carried out.

203 Machine OPR not execute Fast OPR control was started though machine OPR control was not yet carried out.

Fast OPR control is not exercised.

204 Retry signal error Both the near-point dog signal and the retry switch signal are ON.

When starting the OPR control by the near-point dog method: The OPR retry not operated During the OPR retry operation: Decelerates to stop.

13 - 6 13 - 6




— — — — — — — — —

Perform JOG operation (Refer to Chapter 10) to move the axis to the position where the near-point dog turns OFF, and then start machine OPR control (Refer to Section 8.2.3, Section 8.2.7 and Section 8.2.8).

— — — — — — — — —

After turning OFF the zero signal, start machine OPR control (Refer to Section 8.2.5 and Section 8.2.6).

5 152 252 352 452 552 652 752

Cd. 3 Start method 0 to 10: Positioning control 9000 : Machine OPR control 9001 : Fast OPR control

Before starting fast OPR control, perform machine OPR control (Refer to Section 8.2).

— — — — — — — — — Correct the retry switch position so that it will not overlap with the area where the near-point dog signal may turn ON.

13 - 7 13 - 7


Error

code (DEC.)


501 Setting range outside start method

The setting value of " Cd. 3 Start method" is other than 0 to 10, 9000 and 9001.

Start is not made.

502 New current change not possible

• "Da. 1 Operation pattern" is "Continuous path control" in the positioning data whose "Da. 2 Control method" is "Current value changing".

• "Da. 2 Control method" is "Current value changing" in the positioning data following the positioning data whose " Da. 1 Operation pattern" is "Continuous path control".

Current value changing is not made.

503 Continuous path control not possible

• "Da. 1 Operation pattern" is "Continuous path control" in the positioning data whose "Da. 2 Control method" is "Speed.Position Ctrl.".

• "Da. 1 Operation pattern" is "Continuous path control" in the positioning data preceding the positioning data whose " Da. 2 Control method" is "Speed.Position Ctrl.".

504 Setting range outside operation pattern

The setting value of " Da. 1 Operation pattern" is outside the setting range.

505 Speed 0 error At a position control start, " Da. 5 Command speed" of the positioning data is "0".

506 Setting range outside control method

The setting value of " Da. 2 Control method" is outside the setting range.

507 Setting range outside ACC/DEC time

Any of the "OPR. 6 ACC/DEC time at OPR", "JOG. 2 JOG ACC time", "Da. 3 ACC/DEC time" and " Cd. 8 ACC/DEC time at speed change" setting values is outside the setting range.

508 Setting range outside DEC/STOP time

Any of the "OPR. 7 DEC/STOP time at OPR", " JOG. 3 JOG DEC time", " Da. 4 DEC/STOP time" and "Cd. 9 DEC/STOP time at speed change" setting values is outside the setting range.

Start is not made.

510 Illegal direction for continuous path control

When "Da. 1 Operation pattern" is "Continuous path control" for position control, "Da. 6 Positioning address/movement amount" has been set to reverse the operation direction.

The axis stops as soon as the execution of the preceding positioning data is completed.

511 Insufficient movement amount for continuous path control

When "Da. 1 Operation pattern" is "Continuous path control", "Da. 6 Positioning address/movement amount" is too small to form a constant-speed part.

512 Not complete calculation for continuous path control

When "Da. 1 Operation pattern" was "Continuous path control" for position control, positioning control ended soon since " Da. 6 Positioning address/movement amount" in current execution was small, and the calculation processing of the next positioning data was not in time.

The axis stops as soon as the execution of the preceding positioning data is completed.

513

Setting range outside movement amount at speed-position switching control

In "Da. 2 Control method" of "Speed-position switching control", a negative value is set in "Da. 6 Positioning address/movement amount".

At start : Start is not made. During operation : After switching to position

control, the axis decelerates to a stop.

515 S-curve acc./dec. setting operation pattern error

With "S-curve acceleration/deceleration" set for " Pr. 11 Acceleration/deceleration system selection ", continuous positioning control or continuous path

Start is not made.

13 - 8 13 - 8



Axis 1 Axis 2 Axis 3 Axis4 Axis 5 Axis 6 Axis 7 Axis 8Setting range Remedy

5 152 252 352 452 552 652 752

Cd. 3 Start method 0 to 10: Positioning control 9000 : Machine OPR control 9001 : Fast OPR control

Set "Cd. 3 Start method" to within the setting range (Refer to Section 4.7).

• When "Da. 2 Control method" is

"Current value changing" or "Speed.Position Ctrl.", do not set "Continuous path control" in " Da. 1 Operation pattern".

• Do not set "Current value changing" or "Speed.Position Ctrl." in " Da. 2 Control method" of the positioning data following the positioning data where "Continuous path control" has been set in " Da. 1 Operation pattern". (Refer to Section 9.2.3 and Section 9.2.4.)

Set "Da. 1 Operation pattern" to within the setting range.

Set "Da. 5 Command speed" to other than "0".

Set "Da. 2 Control method" to within the setting range.

Set OPR. 6, JOG. 2 , Da. 3 and Cd. 8 to within the setting range.

Set OPR. 7, JOG. 3 , Da. 4 and Cd. 9 to within the setting range.

Refer to "Section 4.3 List of OPR data". Refer to "Section 4.4 List of JOG data".

Refer to "Section 4.5 List of positioning data". Refer to "Section 4.7 List of control data".

OPR. 6 ACC/DEC time at OPR 0 to 32767 (ms)

OPR. 7 DEC/STOP time at OPR 0 to 32767 (ms)

JOG. 2 JOG ACC time 0 to 32767 (ms)

JOG. 3 JOG DEC time 0 to 32767 (ms)

Da. 1 Operation pattern 0: Positioning termination 1: Continuous positioning control 2: Continuous path control Da. 2 Control method 0: No control method, 1: 1-axis linear control (ABS) 2: 1-axis linear control (INC) 3: Speed.Position Ctrl. (Forward) 4: Speed.Position Ctrl. (Reverse) 5: Current value changing Da. 3 ACC/DEC time

0 to 32767 (ms) Da. 4 DEC/STOP time

0 to 32767 (ms) Da. 5 Command speed

0 to 4000000 (pulse/s) Da. 6 Positioning address/movement

amount 0 to 2147483647 (pulse)

(For speed-position switching control)Cd. 8 ACC/DEC time at speed

change 0 to 32767 (ms) Cd. 9 DEC/STOP time at speed

change 0 to 32767 (ms)

Correct "Da. 6 Positioning address/movement amount" (Refer to Section 9.1.2).


-2147483648 to 2147483647 (pulse) (For position control)

Da. 6 Positioning address/movement amount 0 to 2147483647 (pulse)

(For speed-position switching control)

Correct "Da. 6 Positioning address/movement amount" (Refer to Section 9.1.2).

Refer to "Section 4.5 List of positioning data".

Da. 1 Operation pattern 0: Positioning termination (When using S-curve acc./dec.)

Set "Da. 1 Operation pattern" to "0: Positioning termination".

13 - 9 13 - 9


Error

code (DEC.)


800 Hold error The setting made for the QD70D is "Hold" in the "Error time output mode" parameter of the CPU module.

810 Switch setting error The intelligent function module switch setting made on GX Developer is in error.

Start is not made.

820 Programmable controller CPU error

The programmable controller CPU resulted in an error.

830 Programmable controller CPU watch dog timer error

The watchdog timer error of the programmable controller CPU occurred.

840 Module error A module power-off error occurred.

At start: Start is not made. During operation: The axis decelerates to a stop.

901 Software stroke limit upper/lower limit value error

(Upper limit value) ≤ (lower limit value) in the software stroke limit upper/lower limit values.

902 Setting range outside PULSE/SIGN method selection setup/hold time

The setting value of " Pr. 9 PULSE/SIGN method selection setup/hold time" is outside the setting range.

903 Setting range outside software stroke limit

The setting value of " Pr. 3 Software stroke limit valid/invalid setting" is outside the setting range.

904 Setting range outside current feed value during speed control

The setting value of " Pr. 4 Current feed value during speed control" is outside the setting range.

905 Setting range outside speed limit value

The setting value of " Pr. 5 Speed limit value" is outside the setting range.

906 Setting range outside bias speed

• The setting value of "Pr. 6 Bias speed at start" is outside the setting range.

• The setting value of "Pr. 6 Bias speed at start" is higher than " Pr. 5 Speed limit value".

907 Setting range outside deviation counter clear signal output time

The setting value of " Pr. 8 Deviation counter clear signal output time" is outside the setting range.

The module READY signal (Xn0) does not turn ON.

13 - 10 13 - 10




— — — — — — — — —

Change the setting of the "Error time output mode" of PLC parameter to "Clear". (Refer to the QCPU User's Manual.)

— — — — — — — — —

Set the intelligent function module switches to within the setting ranges (refer to Section 5.6).

— — — — — — — — —

— — — — — — — — —

— — — — — — — — —

Switch power from OFF to ON or reset the programmable controller CPU. (Refer to the QCPU User's Manual.)


0 1

100 101

200 201

300 301

400 401

500 501

600 601

700 701


2 3

102 103

202 203

302 303

402 403

502 503

602 603

702 703

-2147483648 to 2147483647 (pulse) Make setting to satisfy (upper limit value) > (lower limit value). (Refer to Section 11.4.)

12 112 212 312 412 512 612 712


0: 10μs, 1: 100μs 2: 1ms, 3: 2ms

4 104 204 304 404 504 604 704

Pr. 3 Software stroke limit valid/invalid setting

0: Valid, 1: Invalid

5 105 205 305 405 505 605 705


0: No update, 1: Update 2: Clear to 0 and no update

6 7

106 107

206 207

306 307

406 407

506 507

606 607

706 707

Pr. 5 Speed limit value 1 to 4000000 (pulse/s)

Change the setting to within the setting range and turn the Programmable controller READY signal (Yn0) from OFF to ON.


6 7

106 107

206 207

306 307

406 407

506 507

606 607

706 707

1 to 4000000 (pulse/s)


8 9

108 109

208 209

308 309

408 409

508 509

608 609

708 709

0 to 4000000 (pulse/s)

Change the setting to within the setting range and to not more than "Pr. 5 Speed limit value", and turn the Programmable controller READY signal (Yn0) from OFF to ON.

11 111 211 311 411 511 611 711

Pr. 8 Deviation counter signal output time

1 to 32 (ms)

Change the setting to within the setting range and turn the Programmable controller READY signal (Yn0) from OFF

13 - 11 13 - 11


Error

code (DEC.)


910 Setting range outside OPR method

The setting value of "OPR. 1 OPR method" is outside the setting range.

911 Setting range outside OPR direction

The setting value of "OPR. 2 OPR direction" is outside the setting range.

912 OP address setting out of range

The set value of "OPR. 3 OP address" is outside the setting range.

913 Setting range outside OPR speed

• The setting value of "OPR. 4 OPR speed" is outside the setting range.

• The setting value of "OPR. 4 OPR speed" is lower than " Pr. 6 Bias speed at start".

• The setting value of "OPR. 4 OPR speed" is higher than " Pr. 5 Speed limit value".

914 Setting range outside creep speed

• The setting value of "OPR. 5 Creep speed" is outside the setting range.

• The setting value of "OPR. 5 Creep speed" is higher than "OPR. 4 OPR speed".

• The setting value of "OPR. 5 Creep speed" is lower than " Pr. 6 Bias speed at start".

915 Setting range outside ACC/DEC time at OPR

The setting value of "OPR. 6 ACC/DEC time at OPR" is outside the setting range.

916 Setting range outside DEC/STOP time at OPR

The setting value of "OPR. 7 DEC/STOP time at OPR" is outside the setting range.

917

Setting range outside setting for the movement amount after near-point dog ON

The setting value of "OPR. 8 Setting for the movement amount after near-point dog ON" is outside the setting range.

918 Setting range outside stop mode during path control

The setting value of " Pr. 10 Stop mode during path control" is outside the setting range.

920 OPR retry setting out of range

The set value of "OPR retry" is outside the setting range.

921 Acceleration / Deceleration System Selection setting out of range

The set value of "Acceleration / Deceleration System Selection" is outside the setting range.

922 Pulse Output Method (Stop Signal Enabled) setting out of range

The set value of "Pulse Output Method (Stop Signal Enabled) " is outside the setting range.

The module READY signal (Xn0) does not turn ON.

13 - 12 13 - 12




20 120 220 320 420 520 620 720

OPR. 1 OPR method 0: Near-point dog method 1: Stopper 1 2: Stopper 2, 3: Stopper 3 4: Count 1, 5: Count 2

21 121 221 321 421 521 621 721

OPR. 2 OPR direction 0: Forward direction 1: Reverse direction


22 23

122 123

222 223

322 323

422 423

522 523

622 623

722 723

OPR. 3 OP address The setting range varies depending on the value set for " Pr. 3 Software stroke limit valid/invalid setting". • "0: Valid" : 0 to 214783647 • "1: Invalid" : -2147483648 to

2147483647

24 25

124 125

224 225

324 325

424 425

524 525

624 625

724 725

Change the setting to within the setting range, to not more than "Pr. 5 Speed limit value" and to not less than " Pr. 6 Bias speed at start", and turn the Programmable controller READY signal (Yn0) from OFF to ON.

26 27

126 127

226 227

326 327

426 427

526 527

626 627

726 727

OPR. 4 OPR speed OPR. 5 Creep speed

1 to 4000000 (pulse/s) Change the setting to within the setting range, to not more than "OPR. 4 OPR speed" and to not less than "Pr. 6 Bias speed at start", and turn the Programmable controller READY signal (Yn0) from OFF to ON.

28 128 228 328 428 528 628 728

29 129 229 329 429 529 629 729

OPR. 6 ACC/DEC time at OPR OPR. 7 DEC/STOP time at OPR

0 to 32767 (ms)

30 31

130 131

230 231

330 331

430 431

530 531

630 631

730 731

OPR. 8 Setting for the movement amount after near-point dog ON 0 to 2147483647 (pulse/s)

13 113 213 313 413 513 613 713

Pr. 10 Stop mode during path control 0: Position match stop 1: Deceleration stop

33 133 233 333 433 533 633 733

OPR. 10 OPR retry 0: Valid 1: Invalid

17 117 217 317 417 517 617 717

Pr. 11 Acceleration/deceleration system selection

0: Trapezoidal acceleration/deceleration

1: S – pattern acceleration/deceleration

18 118 218 318 418 518 618 718

Pr. 12 Pulse output method (stop signal enabled)

0: Fixed Pulse output 1: Fixed Deceleration Time


13 - 13 13 - 13


13.3 List of warnings

The following table shows the warning details and remedies to be taken when a warning occurs.

Warning

code (DEC.)

Warning name Warning Operation status at warning occurrence

000 Normal status — —

10 Start during operation The start request is issued while the axis is BUSY. Continue the operation.

11 Restart not possible

• A restart request was made when "Md. 4 Axis operation status" is other than "Stopped".

• During OPR control or JOG operation, a restart request was made when "Md. 4 Axis operation status" is other than "Stopped".

Operation is continued.

20 Outside speed The set speed or "Cd. 7 New speed value" is lower than " Pr. 6 Bias speed at start" or higher than " Pr. 5 Speed limit value".

The speed is controlled at "Pr. 6 Bias speed at start" or "Pr. 5 Speed limit value".

22 Speed change not possible

A speed change request was given during other than speed control of speed-position switching control and JOG operation.


25 Target position change not possible

The target position change was requested in any other than positioning control with the operation pattern set to Positioning termination.


41 Insufficient movement amount

The calculation processing time of the next positioning data was not reserved in " Da. 1 Operation pattern" of "Continuous positioning control".

The axis decelerates to a stop once upon completion of the execution of the positioning data in current execution, and operation resumes upon completion of the calculation processing of the next positioning data. (The BUSY signal does not turn OFF if the axis has stopped.)

13 - 14 13 - 14




— — — — — — — — — —

— — — — — — — — — Normalize the start request ON timing.

53 153 253 353 453 553 653 753 Cd. 4 Restart request

1: Make restart

• Do not make a restart request in "Md. 4 Axis operation status" of other than "Stopped".

• Do not make a restart request during OPR control or JOG operation.


6 7

106 107

206 207

306 307

406 407

506 507

606 607

706 707

1 to 4000000 (pulse/s)


8 9

108 109

208 209

308 309

408 409

508 509

608 609

708 709

0 to 4000000 (pulse/s)

Change the set speed or "Cd. 7 New speed value" to not less than "Pr. 6 Bias speed at start" and to not more than " Pr. 5 Speed limit value".

55 155 255 355 455 555 655 755

Cd. 6 Speed change request 1: Make speed change

Do not make a speed change during position control or during OPR control.

61 161 261 361 461 561 761 861 Cd. 10 Target position change request

1: Change the target position

Do not change the target position in any other than positioning control with the operation pattern set to Positioning termination.

Refer to "Section 4.5 List of positioning data".

Da. 1 Operation pattern 0: Positioning termination 1: Continuous positioning control 2: Continuous path control Da. 6 Positioning address/movement

amount -2147483648 to 2147483647 (pulse)

(For position control)

Correct "Da. 6 Positioning address/movement amount" or change " Da. 1 Operation pattern" to "Positioning termination". (Refer to Section 9.1.2.)

13 - 15 13 - 15


13.4 Error check by LED indication

The states of QD70D and each axis control can be confirmed by the LEDs located on the front panel of the QD70D main module.

QD70D8

RUN

ERR. AX8AX7AX6AX5

AX4AX3AX2AX1

Each axis can be monitored by the states of the LEDs. The operation and indications of the LEDs are as shown below.

Details of indication Goes OFF Goes ON Flashes

Points to be confirmed Error Remedy

RUN AX5 AX1 AX6 AX2 AX7 AX3

ERR. AX8 AX4

Extinguishment of RUN LED (The states of ERR. and AX1 to AX8 are undefined)

The hardware is faulty.

If the RUN LED does not light up even when the power is turned ON, the module may be out of order. Replace the module with a new one.

RUN AX5 AX1

AX6 AX2

AX7 AX3

ERR. AX8 AX4

Lighting of RUN LED, Extinguishment of ERR LED

The module is normal.

—

RUN AX5 AX1

AX6 AX2

AX7 AX3

ERR. AX8 AX4

Lighting of ERR LED System error

An operation condition setting error or installation programmable controller CPU type error occurs.(The setting and programmable controller CPU type are outside the specification range.) Set the programmable controller CPU type to a one contained in the specification.

RUN AX5 AX1

AX6 AX2

AX7 AX3

ERR. AX8 AX4

Extinguishment of AX1 to AX8 LEDs

During axis stop, during axis standby

—

RUN AX5 AX1

AX6 AX2

AX7 AX3

ERR. AX8 AX4

Lighting of AX1 (Same even if the other axis is lit)

During axis operation

This lights up from the positioning control start until the positioning control is completed, stopped temporarily, or stopped by error (corresponding at a ratio of 1 : 1 to BUSY signals).

RUN AX5 AX1

AX6 AX2

AX7 AX3

ERR. AX8 AX4

Flashing of ERR LEDFlashing of AX1 LED(Same even if the other axis flashes)

Axis error

Check the error observed on the GX Configurator-PT, or the buffer memory batch processing monitor of the GX Developer and correct the applicable parameters and positioning data.

13 - 16 13 - 16


13.5 Confirming the error definitions using system monitor of GX Developer

Choosing Module's detailed information in the system monitor of GX Developer allows you to confirm the error code at axis error occurrence.

(1) Operation of GX Developer

Choose [Diagnostics] [System monitor] "QD70D module" and choose Module's Detailed Information .

(2) Confirmation of error code

The error code stored in "Md. 5 Axis error code" appears in the latest error code field. (Any of axes 1 to 8) (By pressing the Error History button, the error code of the error that has

occurred in each axis is displayed in order of axes 1 to 8. Note that this display does not give a history.)

[Error display details]

Error code of Axis nAxis n (1 n 8)

[Present Error]Means error code 103 "Software stroke limit +".

[Display format]Select "Decimal".(The error codes indicated in "Section 13.2 List of errors" are in decimal.)

App - 1 App - 1

MELSEC-QAPPENDICES

APPENDICES

Appendix 1 External dimension drawing

(1) QD70D4

4 (0

.16)

98(3

.86)

46(1.81)90(3.54)

136(5.35)

50.8(2.00)

55.2(2.17)

Unit: mm (inch)

(2) QD70D8

4(0

.16)

98(3

.86)

46(1.81)90(3.54)

136(5.35) 55.2(2.17)

50.8(2.00)

Unit: mm (inch)

App

App - 2 App - 2

MELSEC-QAPPENDICES

Appendix 2 Operation timing and processing time in each control

(1) Operation timing and processing time of machine OPR control

(PULSE)

Md. 7

Md. 4

t4

t1

t2 t3

t5


Pulse output to outside



Start complete signal[X(n+1)0 to X(n+1)7]

Machine OPR control operation

OPR request flag[ Status : b0]

OPR complete flag[ Status : b1]

OPR StandbyStandby

Md. 7

t1 t2 t3 t4 t5

0.3 to 0.5ms 0.2ms 0 to 2ms 0 to 2ms 0 to 2ms A delay may occur in t1 depending on the operating conditions of the other axes.

(2) Operation timing and processing time of fast OPR control

Md. 4

Pulse output to outside(PULSE)

t1

[X(n+1)0 to X(n+1)7]

t4

BUSYsignal [Xn8 to XnF]

t2

t5

t3

Positioning start signal[Yn8 toYnF]



Fast OPR control operation

Fast OPRStandby Standby

t1 t2 t3 t4 t5

0.3 to 0.5ms 0.2ms 0 to 2ms 0 to 2ms 0 to 2ms A delay may occur in t1 depending on the operating conditions of the other axes.

App

App - 3 App - 3

MELSEC-QAPPENDICES

(3) Operation timing and processing time of position control

[X(n+1)8 to X(n+1)F] t6

Md. 7



Md. 4

Positioning start signal[Yn8 toYnF]

[X(n+1)0 to X(n+1)7]

t4

t1

t2 t3

t5

Axis operation status Standbyposition controlStandby


Machine OPR control operation

Positioning complete signal


t1* t2 t3 t4 t5 t6

0.1 to 0.5ms 0.2ms 0 to 2ms 0 to 2ms 0 to 2ms As set in

parameter

* : t1 at simultaneous start of multiple axes Number of started axes t1

1 axis 0.1ms 4 axes 0.2ms 8 axes 0.4ms

A delay may occur depending on the operating conditions and starting conditions (control method, bias speed, ACC/DEC time, etc.) of the other axes.

App - 4 App - 4

MELSEC-QAPPENDICES

(4) Operation timing and processing time of speed-position switching

control

Speed-position switching control operation

External speed-position switching command (CHG)

Positioning complete signal [X(n+1)8 to X(n+1)F] t7

Md. 7


Pulse output to outside

(PULSE)


Md. 4


t4

t1

t2 t3

t6t5



Standby


Speed control is exercised until the speed-position switching signal turns ON.

The movement amount of position control applies when the external speed-position switching signal is input.

Standby Speed.PositionSpeed Speed.Position Position

t1 t2 t3 t4 t5 t6 t7

0.3 to 0.5ms 0.2ms 0 to 2ms 0 to 2ms 0 to 2ms 0 to 2ms As set in

parameter A delay may occur in t1 depending on the operating conditions of the other axes.

App - 5 App - 5

MELSEC-QAPPENDICES

(5) Operation timing and processing time of JOG operation


t1 t3

ON

t2

ON

OFF

OFF

OFF

t4

JOG operation


Standby JOG operation Standby


Md. 4 Axis operationstatus


Deceleration (JOG Start OFF)

t1 t2 t3 t4

0 to 2.5ms 0 to 2ms 0 to 2ms 0 to 4ms A delay may occur in t1 depending on the operating conditions of the other axes.

App - 6 App - 6

MELSEC-QAPPENDICES

Appendix 3 Connection examples with servo amplifiers manufactured by Mitsubishi Electric

Corporation

Appendix 3.1 Connection example of QD70D and MR-J3- A

CN1

NF MCL1L2L3

L11L21CDP

UV

W

PEPE

UVWE

SM

E1

E2

EMG

24VDC

CN2

MR-J3- A

3 MO11 LG2 MO2

A

A

*2*2

*3

NP1P2

CNP2

CNP1 CNP3

RA1RA2RA3RA4

EMGSONRESPCTLLSPLSNDO COM

DI COMALMZSPTLC

P15RTLALGSD

INP

LZR

PPPG

LZ

DI COMD0 COM

NGNP

CR

9

1011

8

4215191718434447

21482325

12728

2046

3635

24

41

24VDC

CN6

CN5

QD70D

DOG1

RTRY1

COM1

CHG1

PULSE F1+PULSE F1-PULSE R1+

CLEAR1 COMCLEAR1

PG01PG01 COM

PULSE R1-

A03

A02

A06

A05

A15A16A17

A14A13

A09A10

A18

AX1

Configure a sequence to turn off MC at alarm or emergency stop.

Power supply 3-phase 200VAC

Within 10m *4

Near-point dogSpeed-position switchingRetry switch

External emergency stopServo ONResetProportional controlTorque limitForward run stroke endReverse run stroke end

FaultZero speed detectionDuring torque limiting

In-position

Analog torque limit +10V/max. current

Within 2m Plate

Motor

Electromagneticbrake

Detector

Personal computer

Monitoroutput

Max.1mA meter needle swings in both directions.

+24VDC,0.3A

24VDCpower supply -

Cut off by Servo ON signal OFF or by alarm signal.

Within 2m

10k

REMARK

*1 : The logic of each I/O terminal can be changed by making switch setting for intelligent function module (Refer to Section 5.6). (The above example assumes that all terminals are set to the negative logic.) The above example assumes connection to Axis 1. (For the pin layout for connection to any of Axes 2 to 8, refer to "Section 3.4.2 Signal layout for external device connection connector".)

*2 : These are limit switches for servo amplifier (for stop). *3 : For details of connection, refer to the MR-J3- A series Servo Amplifier

Instruction Manual. *4 : This indicates the distance between the QD70D and servo amplifier.

App - 7 App - 7

MELSEC-QAPPENDICES

Appendix 3.2 Connection example of QD70D and MR-J2/J2S- A

RA1RA2RA3

EMG 15SONRESPCTLLSPLSNSGSGVDDCOMALMZSPTLC

P15RTLALGSD

514

89

16171020

3131819

6

1112

1plate

CN1B

NF MCL1L2L3

L11L21C TE2DP

TE1MR-J2/J2S- A

Configure a sequence to turn OFF the MC at alarms and emergency stops.

Power supply3-phase 200VAC

FaultZero speed detectionDuring torque limiting

Analog torque limit+10V/max. current

Within 2m

1221

115

15

TxDCN3

RxDLGLGLGLG

4 MO13 LG

14 MO213 LG

plate SD

RDSDGNDGNDRSCSDRER

A

A

Commercially available personal computer

Monitor output

Max. 1mA totalTwo-way deviation

Within 2m

UV

W

PEPE

UVWE

SM

B1

B2

EMG

CN2

24VDCCutoff by servo ON signal OFF alarm signal.

HC-MF, HA-FFseries motor

Detector

Electromagnetic brake

PULSE F1+ 1A15PULSE F1- 1A16PULSE R1+ 1A17

CLEAR1 1A13CLEAR1 COM 1A14

PG01 1A09PG01 COM 1A10

DOG1 1A03CHG1

QD70D*1AX1

1A06COM1

PULSE R1-

RTRY1

1A18

1A051A02

PPPGNP

CRSG

LZLZR

LGSD

313

2

810

515

1plate

CN1A *4Within 10m *4

NG 12

*2

emergency stopServo ONReset

Torque limitForward run stroke endReverse run stroke end

Proportional control

*2

External

24VDC


10k

10k

REMARK


*2 : These are limit switches for servo amplifier (for stop). *3 : For details of connection, refer to the MR-J2 series Servo Amplifier Instruction

Guide MR-J2S series Servo Amplifier Instruction Manual. *4 : This indicates the distance between the QD70D and servo amplifier.

App - 8 App - 8

MELSEC-QAPPENDICES

Appendix 3.3 Connection example of QD70D and MR-H A

VDDZSPALM

212348

RA1

RA2

CN1

SM

CN2

MR-H A

*2*2

N C P

*3

P15RTLAPLGN15R

LGTLAN

SD

1272826

3029

50

NF MCRST

R1S1

4 MO131

AA

MO2MOG

CN3

24VDC

LZLZR

SGSG

SONRESTLLSPLSNVINVDD

SGPP

CR

PPR

EMG

NPNPRLG

89

1640

12151338392022

1710

37

11

46

3536

3

QD70D*1

DOG1CHG1

COM1

AX1

RTRY1

CLEAR1

PULSE F1+

PGO1PGO1 COM

CLEAR1 COM

PULSE F1 COMPULSE R1

PULSE F1-

PULSE R1 COMPULSE R1-

A3A5A2A6

A13

A15A16A19

A9A10

A14

A17A18A20


External emergency stopServo ONResetTorque limitForward run stroke endReverse run stroke end

Zero speed detectionFault

Analog torque limit command(-) -10V/max. current

Analog torque limit command(+) +10V/max. current

UVW

UVWE

Servo motor

Within 50m

Detector

Monitor output

Max.1mA meter needle swings in both directions.

Within 2m

Regeneration optionConfigure a sequence to turn off MC at alarm or emergency stop.

Power supply 3-phase 200VAC

Within 10m *4

10k

REMARK


*2 : These are limit switches for servo amplifier (for stop). *3 : For details of connection, refer to the MR-H series Servo Amplifier Instruction

Manual. *4 : This indicates the distance between the QD70D and servo amplifier.

App - 9 App - 9

MELSEC-QAPPENDICES

Appendix 3.4 Connection example of QD70D and MR-C A

QD70D*1

NF MCL1

L2

UV

W

UV

WE

SM

EMG

DC24V

CN2

MR-C Aor

MR-C A1

TE1C P

+

-

AX1

+5V

5VGND

PULSE F1+PULSE F1-PULSE R1+

CLEAR1CLEAR1 COM

PG01

PG01 COM

COM1

DOG1CHG1

PULSE R1-

RTRY1

A15A16A17

A13A14

A9

A10

A6

A3A5A2

A18


Servo ONForward run stroke endReverse run stroke end

PPPGNP

CRSGV+OPSD

LSPLSN

910

7

1312

14

11

1514

*2*2

CN1

SON

ALMV24

220

17

RA1

OPC 19

NG 8

Fault

*3

Configure a sequence to turn off MC at alarm or emergency stop.

Within 10m *4

Regenerative resistor connected optionally and externally

HC-PQ series motor

Electromagnetic brake

Detector

Cut off by Servo ON signal OFF or by alarm signal.

Power supplySingle-phase 200VAC (A type) orSingle-phase 100VAC (A1 type)

5VDC power supply

24V, 0.2A or higher

24VDC power supply

REMARK


*2 : These are limit switches for servo amplifier (for stop). *3 : For details of connection, refer to the MR-C series Servo Amplifier Instruction

Manual. *4 : This indicates the distance between the QD70D and servo amplifier.

App - 10 App - 10

MELSEC-QAPPENDICES

Appendix 4 Comparisons with conventional positioning module

Appendix 4.1 Comparisons with type QD70P positioning module

Model Item

QD70D QD70P

Pulse output method Differential output Open callector output

Pulse output mode

CW/CCW mode PULSE/SIGN mode A phase/B phase mode (multiple of 1) A phase/B phase mode (multiple of 4)

CW/CCW mode PULSE/SIGN mode

Speed command value 0 to 4000000 pps 0 to 200000 pps S-curve acceleration/deceleration function * OPR retry function

Speed change function

Available in the following controls: • Positioning control with the operation

pattern set to Positioning termination • Speed control in the speed-position

switching control • JOG operation

Available in the following controls: • Speed control in the speed-position

switching control • JOG operation:


Arbitrary positioning data setting for start

Setting a positioning No. (1 to 10) of any desired positioning data for “Start method” enables the system to start the operation from any given number.

Always starts from positioning data No.1.

* When "Continuous positioning control" or "Continuous path control" is selected for the operation pattern, S-curve acceleration/deceleration is not available.

App - 11 App - 11

MELSEC-QAPPENDICES

Appendix 4.2 Comparisons with type QD75 positioning module

Model Item

QD70D4 QD70D8 QD75P1 QD75D1

QD75P2 QD75D2

QD75P4 QD75D4

Number of control axes 4 axes 8 axes 1 axis 2 axes 4 axes Control unit pulse mm, inch, degree, pulse Number of positioning data 10 /axis 600 /axis

2-axes linear interpolation 3-axes linear interpolation 4-axes linear interpolation

Position control interpolation function 2-axes circular interpolation

ABS system INC system

Position control

Fixed-feed 1 axis 2-axes linear interpolation 3-axes linear interpolation

Speed control

4-axes linear interpolation

Speed-position switching control Position-speed switching control

Positioning control method


Positioning control range

<ABS system> -2147483648 to 2147483647pulse

<INC system>

-2147483648 to 2147483647pulse <Speed-position switching control>

0 to 2147483647pulse (INC system)

<ABS system> -214748364.8 to 214748364.7μm -21474.83648 to 21474.83647inch 0 to 359.99999degree -2147483648 to 2147483647pulse

<INC system (Fixed-feed)> -214748364.8 to 214748364.7μm -21474.83648 to 21474.83647inch -21474.83648 to 21474.83647degree -2147483648 to 2147483647pulse

<Speed-position, position-speed switching control> 0 to 214748364.7μm 0 to 21474.83647inch 0 to 21474.83647degree /0 to 359.99999degree*1 0 to 2147483647pulse

Speed command range 1 to 4000000pulse/s

0.01 to 20000000.00mm/min 0.001 to 2000000.000inch/min 0.001 to 2000000.000degree/min 1 to 1000000pulse/s

High-level positioning control No Block start, condition start, wait start, simultaneous start, repeat start

Machine OPR control function (6 types) (6 types) JOG operation Inching operation Manual pulse generator function No 1 pulse generator/module

Automatic trapezoidal acceleration/deceleration Acceleration/

deceleration processing S-pattern

acceleration/deceleration *2

Acceleration/deceleration time Acceleration time and deceleration

time can be set. (0 to 32767ms)

Acceleration time and deceleration time can be set.

(1 to 8388608ms)

App - 12 App - 12

MELSEC-QAPPENDICES

Model

Item QD70D4 QD70D8

QD75P1 QD75D1

QD75P2 QD75D2

QD75P4 QD75D4

OPR sub function OPR retry OPR retry, OP shift

Compensation function No Electronic gear, backlash compensation, near pass*3

Control limit function Speed limit,

software stroke limit Speed limit, torque limit, software stroke limit, hardware stroke limit

Control details change function Speed change Speed change, override, torque limit value change

Absolute position restoration function

Sub

func

tions

Other sub functions Restart, target position change Restart, continuous operation interrupt, step, skip, M code output, teaching, target position change, command in-position, pre-reading start

Start command Y device of programmable controller

CPU

Y device of programmable controller CPU, external command signal, start command from peripheral device

Stop command Y device of programmable controller

CPU

Y device of programmable controller CPU, external command signal, stop command from peripheral device

Deceleration stop Sudden stop St

op

met

hod

Immediate stop Current value monitor data Current feed value Current feed value, machine feed value Error display Error LED Error LED History data storage (Start, error, warning)

No Yes (3 types, 16 pcs./axis)

Data storage destination No

(Backup not possible) Flash ROM

(Battery-free backup) Peripheral device/software GX Configurator-PT*4 GX Configurator-QP

A6CON1 (soldering type, straight out, option)

A6CON1 (soldering type, straight out, option)

A6CON2 (pressure-displacement type, straight out, option)

A6CON2 (pressure-displacement type, straight out, option)

Connection connector

A6CON4 (soldering type, usable for straight out and diagonal out, option)

A6CON4 (soldering type, usable for straight out and diagonal out, option)

A6CON1, A6CON4: 0.3mm2 A6CON1, A6CON4: 0.3mm2 Applicable wire size

A6CON2: AWG24 A6CON2: AWG24

Command pulse output type Differential driver QD75P : Open collector

QD75D : Differential driver

Max. output pulse 4Mpps For connection to open collector : 200kpps For connection to differential driver : 1Mpps

Max. connection distance to servo 10m For connection to open collector : 2m For connection to differential driver : 10m

QD75P1: 0.4A QD75P2: 0.46A QD75P4: 0.58AInternal current consumption [5VDC] 1.16A 2.16A

QD75D1: 0.52A QD75D2: 0.56A QD75D4: 0.82ANumber of occupied I/O points 48 points 32 points Number of slots occupied by module 2 1 Weight 0.17kg 0.23kg 0.15kg 0.15kg 0.16kg

: Possible, : Not possible *1 When the unit is "degree", the control method is the INC system/ABS system under speed-position switching control. *2 When "Continuous positioning control" or "Continuous path control" is selected for the operation pattern, S-curve

acceleration/deceleration is not available. *3 The near pass function is valid for continuous path control only. *4 Added into GX Developer for use. (Refer to Chapter 6.)

App - 13 App - 13

MELSEC-QAPPENDICES

Comparison of acceleration/deceleration processing function method

QD70D (Refer to Section 11.5 for details)

Item QD75 Speed change

Position control in operation pattern of

continuous path controlMachine OPR control

Other than the three items on the left

Set acceleration time

Time taken to reach the speed limit value from speed 0

Time taken to reach the OPR speed from the bias speed at start.

Time taken to reach the set speed from the bias speed at start.

Set deceleration time

Time taken to reach speed 0 from the speed limit value

Time taken to reach the new speed from the old speed.

Time taken to reach the new speed from the command speed before positioning data No. changing.

Time taken to reach the creep speed from the OPR speed.

Time taken to reach the bias speed at start from the set speed.

Operation of acceleration/deceleration processing function of QD70

t

VSpeed limit value

Target speed

When "bias speed at start" is other than 0

When "bias speed at start" is 0

Actual acceleration time( "Bias speed at start" is 0)Actual acceleration time( "Bias speed at start" is other than 0)

Set acceleration time

Actual deceleration time( "Bias speed at start" is 0)Actual deceleration time( "Bias speed at start" is other than 0)Set deceleration

time * The operation of the acceleration/deceleration processing function of the AD75 is the same as that of the

QD75. (For comparison between the QD75 and AD75, refer to the QD75P/QD75D Positioning Module User's Manual.)

App - 14 App - 14

MELSEC-QAPPENDICES

Appendix 5 List of buffer memory addresses


Axis 1

Axis 2

Axis 3

Axis 4

Axis 5

Axis 6

Axis 7

Axis 8

Item Memory area Reference

section

0 1

100 101

200 201

300 301

400 401

500 501

600 601

700 701


2 3

102 103

202 203

302 303

402 403

502 503

602 603

702 703


4 104 204 304 404 504 604 704 Pr. 3 Software stroke limit valid/invalid setting

5 105 205 305 405 505 605 705 Pr. 4 Current feed value during speed control

6 7

106 107

206 207

306 307

406 407

506 507

606 607

706 707


8 9

108 109

208 209

308 309

408 409

508 509

608 609

708 709


10 110 210 310 410 510 610 710 Pr. 7 Positioning complete signal output time

11 111 211 311 411 511 611 711 Pr. 8 Deviation counter clear signal output time

12 112 212 312 412 512 612 712 Pr. 9 PULSE/SIGN method selection setup/hold time

13 113 213 313 413 513 613 713 Pr. 10 Deceleration Stop Method

17 117 217 317 417 517 617 717 Pr. 11 Acceleration / Deceleration System Selection

18 118 218 318 418 518 618 718 Pr. 12 Pulse Output Method (Stop Signal Enabled)

Parameter Section 4.1.2

19 119 219 319 419 519 619 719 Reserved (Cannot be used)*1 - 20 120 220 320 420 520 620 720 OPR. 1 OPR method

21 121 221 321 421 521 621 721 OPR. 2 OPR direction

22 23

122 123

222 223

322 323

422 423

522 523

622 623

722 723

OPR. 3 OP address

24 25

124 125

224 225

324 325

424 425

524 525

624 625

724 725

OPR. 4 OPR speed

26 27

126 127

226 227

326 327

426 427

526 527

626 627

726 727

OPR. 5 Creep speed

28 128 228 328 428 528 628 728 OPR. 6 ACC/DEC time at OPR

29 129 229 329 429 529 629 729 OPR. 7 DEC/STOP time at OPR

30 31

130 131

230 231

330 331

430 431

530 531

630 631

730 731

OPR. 8 Setting for the movement amount after near-point dog ON

32 132 232 332 432 532 632 732 OPR. 9 OPR dwell time

33 13 233 333 433 533 633 733 OPR. 10 QPR retry

OPR data Section 4.1.3

34 to 39

134 to

139

234 to

239

334 to

339

434 to

439

533 to

539

634 to

639

734 to

739 Reserved (Cannot be used)*1 -

40 41

140 141

240 241

340 341

440 441

540 541

640 641

740 741

JOG. 1 JOG speed

42 142 242 342 442 542 642 742 JOG. 2 JOG ACC time

43 143 243 343 443 543 643 743 JOG. 3 JOG DEC time

44 144 244 344 444 544 644 744 JOG. 4 JOG direction flag

JOG data Section 4.1.4

45 to 49

145 to

149

245 to

249

345 to

349

445 to

449

545 to

549

645 to

649

745 to

749 Reserved (Cannot be used) *1 -

*1: Write to "Reserved (Cannot be used)" is prohibited. *2: Addresses not given in the list is write-disabled.

App - 15 App - 15

MELSEC-QAPPENDICES


Axis 1

Axis 2

Axis 3

Axis 4

Axis 5

Axis 6

Axis 7

Axis 8


section

50 150 250 350 450 550 650 750 Cd. 1 Axis error reset

51 151 251 351 451 551 651 751 Cd. 2 OPR request flag OFF request

52 152 252 352 452 552 652 752 Cd. 3 Start method

53 153 253 353 453 553 653 753 Cd. 4 Restart request

54 154 254 354 454 554 654 754 Cd. 5 Speed-position switching request

55 155 255 355 455 555 655 755 Cd. 6 Speed change request

56 57

156 157

256 257

356 357

456 457

556 557

656 657

756 757

Cd. 7 New speed value

58 158 258 358 458 558 658 758 Cd. 8 ACC/DEC time at speed change

59 159 259 359 459 559 659 759 Cd. 9 DEC/STOP time at speed change

61 161 261 361 461 561 661 761 Cd. 10 Target position change request

62 63

162 163

262 263

362 363

462 463

562 563

662 663

762 763


Axis control data Section 4.1.7

60 to 69

160 to

169

260 to

269

360 to

369

460 to

469

560 to

569

660 to

669

760 to


70 71

170 171

270 271

370 371

470 471

570 571

670 671

770 771


72 73

172 173

272 273

372 373

472 473

572 573

672 673

772 773


74 75

174 175

274 275

374 375

474 475

574 575

674 675

774 775

Md. 3 Current speed

76 176 276 376 476 576 676 776 Md. 4 Axis operation status

77 177 277 377 477 577 677 777 Md. 5 Axis error code

78 178 278 378 478 578 678 778 Md. 6 Axis warning code

79 179 279 379 479 579 679 779 Md. 7 Status

80 180 280 380 480 580 680 780 Md. 8 External I/O signal

81 181 281 381 481 581 681 781 Md. 9 Executing positioning data No.

Axis monitor data Section 4.1.6

82 to 99

182 to

199

282 to

299

382 to

399

482 to

499

582 to

599

682 to

699

782 to



App - 16 App - 16

MELSEC-QAPPENDICES


Axis 1

Axis 2

Axis 3

Axis 4

Axis 5

Axis 6

Axis 7

Axis 8


section

800 900 1000 1100 1200 1300 1400 1500 Da. 1 Operation pattern

801 901 1001 1101 1201 1301 1401 1501 Da. 2 Control method

802 902 1002 1102 1202 1302 1402 1502 Da. 3 ACC/DEC time

803 903 1003 1103 1203 1303 1403 1503 Da. 4 DEC/STOP time

804 805

904 905

1004 1005

1104 1105

1204 1205

1304 1305

1404 1405

1504 1505

Da. 5 Command speed

806 807

906 907

1006 1007

1106 1107

1206 1207

1306 1307

1406 1407

1506 1507


808 908 1008 1108 1208 1308 1408 1508 Da. 7 Dwell time

809 909 1009 1109 1209 1309 1409 1509 Reserved (Cannot be used)*

No. 1

810 to

819

910 to

919

1010 to

1019

1110 to

1119

1210 to

1219

1310 to

1319

1410 to

1419

1510 to

1519 No. 2

820 to

829

920 to

929

1020 to

1029

1120 to

1129

1220 to

1229

1320 to

1329

1420 to

1429

1520 to

1529 No. 3

830 to

839

930 to

939

1030 to

1039

1130 to

1139

1230 to

1239

1330 to

1339

1430 to

1439

1530 to

1539 No. 4

840 to

849

940 to

949

1040 to

1049

1140 to

1149

1240 to

1249

1340 to

1349

1440 to

1449

1540 to

1549 No. 5

850 to

859

950 to

959

1050 to

1059

1150 to

1159

1250 to

1259

1350 to

1359

1450 to

1459

1550 to

1559 No. 6

860 to

869

960 to

969

1060 to

1069

1160 to

1169

1260 to

1269

1360 to

1369

1460 to

1469

1560 to

1569 No. 7

870 to

879

970 to

979

1070 to

1079

1170 to

1179

1270 to

1279

1370 to

1379

1470 to

1479

1570 to

1579 No. 8

880 to

889

980 to

989

1080 to

1089

1180 to

1189

1280 to

1289

1380 to

1389

1480 to

1489

1580 to

1589 No. 9

890 to

899

990 to

999

1090 to

1099

1190 to

1199

1290 to

1299

1390 to

1399

1490 to

1499

1590 to

1599 No. 10

Positioning data

Section 4.1.5

1600 Md. 10 Error status

1601 Md. 11 Warning status

Module information monitor data

Section 4.1.6


Index - 1 Index - 1

INDEX

[Numeral]

0 speed.......................................................... 4-35 1-axis linear control (ABS) ............................ 9-11 1-axis linear control (INC) ............................. 9-12

[A]

AD70............................................................... 1- 1 AD75CK......................................................... 5-10 Absolute system............................................. 9- 8 Acceleration/deceleration processing function ..................................................................... 11-11 Actual acceleration/deceleration time......... 11-11 A phase/B phase mode................................. 5-16 Applicable systems ........................................ 2- 3 Applicable wire size........................................ 3- 1 Auto refresh setting ....................................... 6-14 Axis control data............................................ 4-37 Axis display LED ............................................ 5- 4 Axis error occurrence signal .......................... 3- 5 Axis monitor data........................................... 4-34 Axis stop signal .............................................. 3- 6 Axis warning occurrence signal ..................... 3- 5

[B]

BUSY signal ................................................... 3- 5 [C]

CW/CCW mode............................................. 5-15 Cable clamping.............................................. 5-10 Cd. 1 Axis error reset .................................... 4- 8 Cd. 2 OPR request flag OFF request........... 4- 8 Cd. 3 Start method........................................ 4- 8 Cd. 4 Restart request.................................... 4- 8 Cd. 5 Speed-position switching request....... 4- 8 Cd. 6 Speed change request........................ 4- 8 Cd. 7 New speed value................................. 4- 8 Cd. 8 ACC/DEC time at speed change........ 4- 8 Cd. 9 DEC/STOP time at speed change...... 4- 8 Cd. 10 Target position change request ........ 4- 8 Cd. 11 Target position change value............ 4- 8 Common functions ....................................... 12- 1 Component list ............................................... 2- 2 Confirmation items at completion of wiring ...................................................................... 5- 12 Confirming the current value.......................... 9- 9

Confirming the wiring .....................................5-12 Connection confirmation................................5-12 Connector........................................................5- 4 Continuous path control..................................9- 5 Continuous positioning control .......................9- 4 Count 1 machine OPR control.......................8-14 Count 2 machine OPR control.......................8-16 Current feed value ..........................................9- 9 Current value changing .................................9-16

[D]

Da. 1 Operation pattern.................................4- 6 Da. 2 Control method ....................................4- 6 Da. 3 ACC/DEC time.....................................4- 6 Da. 4 DEC/STOP time ..................................4- 6 Da. 5 Command speed .................................4- 6 Da. 6 Positioning address/movement amount .........................................................................4- 6 Da. 7 Dwell time ............................................4- 6 Deceleration stop ...........................................1-11 Details of input signals (QD70D to programmable controller CPU) .........................................................................3- 5 Details of output signals (programmable controller CPU to QD70D) .........................................................................3- 6 Deviation counter clear signal ........................3- 7 Deviation counter droop pulse amount ..........1- 7

[E] Electrical specifications...................................3- 7 Error and warning details..............................13- 1 Error reset program .......................................7-15 External I/O logic switching function ............12- 1 External I/O signal monitor ...........................12- 1 External device connection connector ...........5- 6 External dimension drawing ...................... App- 1 External power source input...........................3- 8

[F]

Fast OPR control ...........................................8-18 Fast OPR control starting timing chart ..........7-21

Ind

Index - 2 Index - 2

[G] General configuration of program.................. 7- 7 General image of system............................... 2- 1

[H]

Handling precautions ..................................... 5- 1 [I]

I/O assignment setting .................................. 5-14 Immediate stop............................................... 9- 6 Incremental system ........................................ 9- 8 Initial setting................................................... 6-12 Initialization program ..................................... 7-16 Input/output interface internal circuit............. 3-12 Input/output interface specifications .............. 3- 7 Installing and uninstalling............................... 6- 2 Intelligent function module parameter ........... 6- 6 Internal circuit ................................................ 3-12 Internal current consumption ......................... 3- 1

[J]

JOG operation .............................................. 10- 1 JOG operation program ................................ 7-14 JOG operation starting timing chart............. 10- 1 JOG start signal.............................................. 3- 6 JOG. 1 JOG speed ....................................... 4- 5 JOG. 2 JOG ACC time.................................. 4- 5 JOG. 3 JOG DEC time.................................. 4- 5 JOG. 4 JOG direction flag............................. 4- 5

[L]

LED indication ............................................. 13-15 List of buffer memory addresses ..............App-14 List of devices................................................. 7- 3 List of errors.................................................. 13- 3 List of functions............................................... 3- 2 List of input/output signals ............................. 3- 4 List of warnings ........................................... 13-13

[M]

MELSECNET/H.............................................. 2- 5 Machine OPR control ..................................... 8- 2 Machine OPR control starting timing chart... 7-20 Max. connection distance .............................. 3- 1 Max. output pulse........................................... 3- 1 Md. 1 Current feed value............................... 4- 7 Md. 2 Movement amount after near-point dog ON........................................................................ 4- 7 Md. 3 Current speed...................................... 4- 7

Md. 4 Axis operation status ...........................4- 7 Md. 5 Axis error code.....................................4- 7 Md. 6 Axis warning code................................4- 7 Md. 7 Status ...................................................4- 7 Md. 8 External I/O signal................................4- 7 Md. 9 Executing positioning data No. ...........4- 7 Md. 10 Error status........................................4- 7 Md. 11 Warning status...................................4- 7 Mechanism of positioning control...................1- 3 Module READY signal ....................................3- 5 Module information monitor data...................4-36 Module's detailed information........................5-18 Monitoring/test................................................6-16 Movement amount per pulse..........................1- 4 Multiple CPU system ......................................2- 6 Multiple axes simultaneous start control .......9-17

[N]

Near-point dog method machine OPR control .........................................................................8- 5 Near-point dog signal......................................3- 7 No. of control axes..........................................3- 1 No. of modules................................................2- 3 No. of occupied I/O points ..............................3- 1

[O]

OPR complete flag.........................................4-35 OPR data setting program.............................7-10 OPR method ...................................................8- 3 OPR method (1): Near-point dog method......8- 5 OPR method (2): Stopper 1............................8- 8 OPR method (3): Stopper 2...........................8-10 OPR method (4): Stopper 3...........................8-12 OPR method (5): Count 1..............................8-14 OPR method (6): Count 2..............................8-16 OPR request ...................................................8- 1 OPR request OFF program...........................7-16 OPR request flag ...........................................4-37 OPR. 1 OPR method .....................................4- 4 OPR. 2 OPR direction....................................4- 4 OPR. 3 OP address .......................................4- 4 OPR. 4OPR speed ........................................4- 4 OPR. 5 Creep speed .....................................4- 4 OPR. 6 ACC/DEC time at OPR.....................4- 4 OPR. 7 DEC/STOP time at OPR ..................4- 4 OPR. 8 Setting for the movement amount after near-point dog ON ..........................................4- 4 OPR. 9 OPR dwell time.................................4- 4 OPR. 10 OPR retry........................................4- 4

Ind

Index - 3 Index - 3

Operating environment .................................. 6- 4 Operation pattern ........................................... 9- 2 Operation timing and processing time of JOG operation.....................................................App- 5 Operation timing and processing time of fast OPR control .........................................................App- 2 Operation timing and processing time of machine OPR control ................................................App- 2 Operation timing and processing time of position control .........................................................App- 3 Operation timing and processing time of speed-position switching control ...........................App- 4 Outline design of positioning control system ........................................................................ 1- 5 Outline of OPR control ................................... 8- 1 Outline of starting .......................................... 1-10 Outline of stopping ........................................ 1-11

[P]

Programmable controller READY signal ....... 3- 6 Programmable controller READY signal [Yn0] ON program ......................................................... 7-12 PLC parameter ............................................... 4- 2 PULSE/SIGN mode....................................... 5-15 Parameter setting program ........................... 7-10 Part identification nomenclature .................... 5- 1 Performance specifications............................ 3- 1 Position match stop....................................... 4-13 Positioning complete signal ........................... 3- 5 Positioning control operation program........... 7- 8 Positioning control program examples ......... 7-10 Positioning control start program.................. 7-13 Positioning data setting program .................. 7-11 Positioning start signal ................................... 3- 6 Positioning termination................................... 9- 3 Pr. 1 Software stroke limit upper limit value. 4- 3 Pr. 2 Software stroke limit lower limit value . 4- 3 Pr. 3 Software stroke limit valid/invalid setting ........................................................................ 4- 3 Pr. 4 Current feed value during speed control ........................................................................ 4- 3 Pr. 5 Speed limit value.................................. 4- 3 Pr. 6 Bias speed at start ............................... 4- 3 Pr. 7 Positioning complete signal output time ........................................................................ 4- 3 Pr. 8 Deviation counter clear signal output time ........................................................................ 4- 3

Pr. 9 PULSE/SIGN method selection setup/hold time..................................................................4- 3 Pr. 10 Deceleration stop method...................4- 3 Pr. 11 Acceleration / deceleration system selection ..........................................................4- 3 Pr. 12 Pulse output method (stop signal enabled) .........................................................................4- 3 Precautions

Handling precautions ..................................5- 1 Confirmation items at completion of wiring ....................................................................5-12 Precautions for creating program ...............7- 1 Wiring precautions ......................................5- 7

Precautions for creating program...................7- 1 Procedures before operation..........................5- 3 Processing time

Operation timing and processing time of JOG operation................................................. App- 5 Operation timing and processing time of fast OPR control............................................ App- 2 Operation timing and processing time of machine OPR control............................. App- 2 Operation timing and processing time of position control ..................................................... App- 3 Operation timing and processing time of speed-position switching control....................... App- 4

Program details..............................................7-16 Program example

Error reset program....................................7-15 JOG operation program .............................7-14 OPR data setting program.........................7-10 OPR request OFF program .......................7-12 PLC READY signal [Yn0] ON program .....7-12 Parameter setting program........................7-10 Positioning control start program...............7-12 Positioning data setting program...............7-11 Restart program .........................................7-15 Speed change program .............................7-14 Start method setting program....................7-12 Stop program..............................................7-15

[Q]

QD70D .......................................................... A-11 QD70D features..............................................1- 1 QD75 ............................................................. A-10

[R]

Rated plate......................................................2- 9 Remote I/O station..........................................2- 5

Index - 4 Index - 4

Restart function ........................................... 11-15 Restart program ............................................ 7-15 Restarting timing chart .................................. 7-25

[S]

Serial number ................................................. 2- 9 Setting data .................................................... 4- 1 Setting items for OPR data ............................ 4- 4 Setting items for parameters.......................... 4- 3 Setting items for positioning data................... 4- 6 Setting the positioning data........................... 9-10 Signal

Axis error occurrence signal....................... 3- 5 Axis stop signal........................................... 3- 6 Axis warning occurrence signal ................. 3- 5 BUSY signal................................................ 3- 5 Deviation counter clear signal.................... 3- 7 JOG start signal.......................................... 3- 6 Module READY signal................................ 3- 5 Near-point dog signal ................................. 3- 7 Programmable controller READY signal ... 3- 6 Positioning complete signal........................ 3- 5 Positioning start signal ............................... 3- 5 Speed-position switching signal................. 3- 7 Start complete signal.................................. 3- 5 Zero signal .................................................. 3- 7

Signal communication between QD70D and each module ............................................................ 1- 8 Signal layout for connector ............................ 3- 9 Signal names.................................................. 3- 4 Simple reciprocating operation ..................... 5-19 Specifications of input/output signals ............ 3- 7 Speed change function ................................ 11- 2 Speed change program ................................ 7-14 Speed limit function...................................... 11- 1 Speed-position switching control .................. 9-10 Speed-position switching control starting timing chart ............................................................... 7-22 Speed-position switch signal ........................ 3-10 Start complete signal...................................... 3- 5 Start method.................................................. 4-37 Start method setting program ....................... 7-17 Start program................................................. 7-17 Starting the Intelligent function module utility ....................................................................... 6-10 Stop program................................................. 7-15 Stop settling time............................................ 1- 6 Stopper 1 machine OPR control.................... 8- 8 Stopper 2 machine OPR control................... 8-10

Stopper 3 machine OPR control ...................8-12 Sub functions ................................................11- 1 Switch setting for intelligent function module 5-14

[T] Timing chart

Fast OPR control starting timing chart ......7-21 JOG operation starting timing chart...........10-1 Machine OPR control starting timing chart ....................................................................7-20 OPR OFF requesting timing chart .............7-16 Positioning control starting timing chart.....7-21 Restarting timing chart ...............................7-25 Speed changing timing chart .....................7-23 Speed-position switching control starting timing chart............................................................7-22

Torque limit .....................................................8- 8 Types and roles of control data ......................4- 8 Types and roles of monitor data.....................4- 7 Types of data ..................................................4- 1 Types of errors..............................................13- 1 Types of warnings.........................................13- 2

[U]

Utility package.................................................6- 1 [W]

Wiring ..............................................................5- 7 Wiring precautions ..........................................5- 7

[X]

X/Y monitor ....................................................6-17 Xn0 (module READY).....................................3- 4 Xn1 (axis error occurrence) ............................3- 4 Xn2 (axis warning occurrence).......................3- 4

[Z]

Zero signal ......................................................3- 7

WARRANTY

Please confirm the following product warranty details before using this product. 1. Gratis Warranty Term and Gratis Warranty Range

If any faults or defects (hereinafter "Failure") found to be the responsibility of Mitsubishi occurs during use of the product within the gratis warranty term, the product shall be repaired at no cost via the sales representative or Mitsubishi Service Company. However, if repairs are required onsite at domestic or overseas location, expenses to send an engineer will be solely at the customer’s discretion. Mitsubishi shall not be held responsible for any re-commissioning, maintenance, or testing on-site that involves replacement of the failed module. [Gratis Warranty Term] The gratis warranty term of the product shall be for one year after the date of purchase or delivery to a designated place. Note that after manufacture and shipment from Mitsubishi, the maximum distribution period shall be six (6) months, and the longest gratis warranty term after manufacturing shall be eighteen (18) months. The gratis warranty term of repair parts shall not exceed the gratis warranty term before repairs. [Gratis Warranty Range] (1) The range shall be limited to normal use within the usage state, usage methods and usage environment, etc., which

follow the conditions and precautions, etc., given in the instruction manual, user's manual and caution labels on the product.

(2) Even within the gratis warranty term, repairs shall be charged for in the following cases. 1. Failure occurring from inappropriate storage or handling, carelessness or negligence by the user. Failure caused

by the user's hardware or software design. 2. Failure caused by unapproved modifications, etc., to the product by the user. 3. When the Mitsubishi product is assembled into a user's device, Failure that could have been avoided if functions

or structures, judged as necessary in the legal safety measures the user's device is subject to or as necessary by industry standards, had been provided.

4. Failure that could have been avoided if consumable parts (battery, backlight, fuse, etc.) designated in the instruction manual had been correctly serviced or replaced.

5. Failure caused by external irresistible forces such as fires or abnormal voltages, and Failure caused by force majeure such as earthquakes, lightning, wind and water damage.

6. Failure caused by reasons unpredictable by scientific technology standards at time of shipment from Mitsubishi. 7. Any other failure found not to be the responsibility of Mitsubishi or that admitted not to be so by the user.

2. Onerous repair term after discontinuation of production

(1) Mitsubishi shall accept onerous product repairs for seven (7) years after production of the product is discontinued. Discontinuation of production shall be notified with Mitsubishi Technical Bulletins, etc.

(2) Product supply (including repair parts) is not available after production is discontinued. 3. Overseas service

Overseas, repairs shall be accepted by Mitsubishi's local overseas FA Center. Note that the repair conditions at each FA Center may differ.

4. Exclusion of loss in opportunity and secondary loss from warranty liability

Regardless of the gratis warranty term, Mitsubishi shall not be liable for compensation of damages caused by any cause found not to be the responsibility of Mitsubishi, loss in opportunity, lost profits incurred to the user by Failures of Mitsubishi products, special damages and secondary damages whether foreseeable or not, compensation for accidents, and compensation for damages to products other than Mitsubishi products, replacement by the user, maintenance of on-site equipment, start-up test run and other tasks.

5. Changes in product specifications

The specifications given in the catalogs, manuals or technical documents are subject to change without prior notice.

SH (NA)-080551ENG-G

SH(NA)-080551ENG-G(1103)MEE

MODEL: QD70D-U-SY-E

MODEL CODE: 13JR80

Specifications subject to change without notice.

When exported from Japan, this manual does not require application to theMinistry of Economy, Trade and Industry for service transaction permission.

HEAD OFFICE : TOKYO BUILDING, 2-7-3 MARUNOUCHI, CHIYODA-KU, TOKYO 100-8310, JAPANNAGOYA WORKS : 1-14 , YADA-MINAMI 5-CHOME , HIGASHI-KU, NAGOYA , JAPAN

Documents

Positioning Module Type QD70D User's Manual · 2015. 4. 22. · • Before installing or removing the module, be sure to shut off all phases of the external power ... GENERIC TERMS